Python add_RobotServerServicer_to_server Examples

Example #1

File: robot_server.py Project: wwwshwww/task_on_nav_robot_server

def serve():
    server_port = rospy.get_param("~server_port")
    real_robot = rospy.get_param("~real_robot")
    wait_moved = rospy.get_param("~wait_moved")
    action_time = rospy.get_param("~action_time")
    slam_map_size = rospy.get_param("~slam_map_size")
    agent_size = rospy.get_param("~agent_size")
    wall_threshold = rospy.get_param("~wall_threshold")
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    robot_server_pb2_grpc.add_RobotServerServicer_to_server(
        RobotServerServicer(real_robot=real_robot,
                            wait_moved=wait_moved,
                            action_time=action_time,
                            slam_map_size=slam_map_size,
                            agent_size=agent_size,
                            wall_threshold=wall_threshold), server)
    server.add_insecure_port('[::]:' + repr(server_port))
    server.start()
    if real_robot:
        rospy.loginfo("MiR 100 Real Robot Server started at " +
                      repr(server_port))
    else:
        rospy.loginfo("MiR 100 Sim Robot Server started at " +
                      repr(server_port))
    rospy.spin()

Example #2

File: robot_server.py Project: jr-robotics/robo-gym-robot-servers

def serve():
    server_port = rospy.get_param('~server_port')
    real_robot = rospy.get_param('~real_robot')
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    robot_server_pb2_grpc.add_RobotServerServicer_to_server(RobotServerServicer(real_robot=real_robot), server)
    server.add_insecure_port('[::]:' + repr(server_port))
    server.start()
    if real_robot:
        rospy.loginfo('MiR 100 Real Robot Server started at ' + repr(server_port))
    else:
        rospy.loginfo('MiR 100 Sim Robot Server started at ' + repr(server_port))
    rospy.spin()

Example #3

def serve():
    server_port = rospy.get_param("~server_port")
    real_robot = rospy.get_param("~real_robot")
    ur_model = rospy.get_param("~ur_model")
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    robot_server_pb2_grpc.add_RobotServerServicer_to_server(
        RobotServerServicer(real_robot= real_robot, ur_model= ur_model), server)
    server.add_insecure_port('[::]:'+repr(server_port))
    server.start()
    if real_robot:
        rospy.loginfo(ur_model + " Real Robot Server started at " + repr(server_port))
    else:
        rospy.loginfo(ur_model + " Sim Robot Server started at " + repr(server_port))
    rospy.spin()

Example #4

File: robot_server.py Project: jr-robotics/robo-gym-robot-servers

def serve():
    rospy.loginfo('Starting UR Robot Server...')
    server_port = rospy.get_param('~server_port')
    real_robot = rospy.get_param('~real_robot')
    ur_model = rospy.get_param('~ur_model')
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    robot_server_pb2_grpc.add_RobotServerServicer_to_server(
        RobotServerServicer(real_robot=real_robot, ur_model=ur_model), server)
    server.add_insecure_port('[::]:'+repr(server_port))
    server.start()
    if real_robot:
        rospy.loginfo(ur_model + ' Real Robot Server started at ' + repr(server_port))
    else:
        rospy.loginfo(ur_model + ' Sim Robot Server started at ' + repr(server_port))
    rospy.spin()