def my_callback(request):
rospy.loginfo('Service has been called')
obj = MoveBB8()
obj.move_bb8(request.duration)
rospy.loginfo('Finished')
response = MyCustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
print "Request Data==> duration==>" + str(request.duration)
my_response = MyCustomServiceMessageResponse()
if request.duration > 5.0:
my_response.success = True
else:
my_response.success = False
return my_response
def service(self, *data):
request = data[0]
my_response = MyCustomServiceMessageResponse()
if request.duration > 5.0:
my_response.success = True
else:
my_response.success = False
return my_response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_circle has been called")
movebb8_object = MoveBB8()
movebb8_object.move_bb8(request.duration)
rospy.loginfo("Finished service move_bb8_in_circle")
response = MyCustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
print "Request Data => radius= "+str(request.radius)+", repetitions = "+str(request.repetitions)
my_response = MyCustomServiceMessageResponse()
if request.radius > 5.0:
my_response.success = True
else:
my_response.success = False
return my_response #the service response class
def my_callback(request):
print "Request Data Received"
print "Radians = " + str(request.radians)
print "Repeatitions = " + str(request.repeatitions)
my_response = MyCustomServiceMessageResponse()
if request.radians > 0.5:
my_response.success = True
else:
my_response.success = False
return my_response
def service(self, *data):
request = data[0]
self.pub_.publish(self.cmd_vel_move_)
for _ in range(request.duration):
self.rate_.sleep()
self.pub_.publish(self.cmd_vel_stop_)
my_response = MyCustomServiceMessageResponse()
my_response.success = True
return my_response
def move_callback(request):
#print ("move_callback has been called")
print "Request Data==> radius=" + str(
request.radius) + ", repetitions = " + str(request.repetitions)
response = MyCustomServiceMessageResponse()
if request.radius > 1 or request.radius == 0.0 or request.repetitions < 1 or request.repetitions > 10:
response.success = False
print("Bad arguements. Either radius or repetitions is out of range")
return response
for i in range(request.repetitions):
moveBB8.move_square(request.radius)
#print("move complete")
response.success = True
return response
def my_callback(request):
print "Request Data==> duration=" + str(request.duration)
i = 0
while i < request.duration: #request.duration is the Argument taken by the service message when called, as detailed in MyCustomServiceMessage
move_circle.linear.x = 0.2
move_circle.angular.z = 0.2
my_pub.publish(move_circle)
rate.sleep()
i = i + 1
else:
move_circle.linear.x = 0
move_circle.angular.z = 0
my_pub.publish(move_circle)
my_response = MyCustomServiceMessageResponse()
my_response.success = True
return my_response
def my_callback(request):
my_response = MyCustomServiceMessageResponse()
time = my_response.duration
rospy.loginfo("BB8 will start moving in circle")
while time > 0:
move_bb8.linear.x = 0.1
move_bb8.angular.z = 0.5
pub1.publish(move_bb8)
time -= 1
sleep(1)
move_bb8.linear.x = 0.0
move_bb8.angular.z = 0.0
pub1.publish(move_bb8)
rospy.loginfo("BB8 finished moving in circle")
my_response.success = True
return my_response # the service Response class, in this case EmptyResponse
def my_callback(request):
global value
print "Request Data==> duration=" + str(request.duration)
value.linear.x = 0.5
value.linear.z = 0.5
value.angular.z = .5
value.angular.x = .5
pub.publish(value)
rospy.sleep(request.duration)
value.linear.x = 0
value.linear.z = 0
value.angular.z = 0
value.angular.x = 0
pub.publish(value)
my_response = MyCustomServiceMessageResponse()
my_response.success = True
return my_response # the service Response class, in this case EmptyResponse
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_circle_custom has been called")
move_circle.linear.x = 0.2
move_circle.angular.z = 0.2
i = 0
while i <= request.duration:
my_pub.publish(move_circle)
rate.sleep()
i = i + 1
move_circle.linear.x = 0
move_circle.angular.z = 0
my_pub.publish(move_circle)
rospy.loginfo("Finished service move_bb8_in_circle_custom")
response = MyCustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case EmptyResponse
def my_callback(request):
print "Request Data==> duration=" + str(request.duration)
my_response = MyCustomServiceMessageResponse()
move = Twist()
move.linear.x = 0.2
move.angular.z = 0.2
i = 0
while i <= request.duration:
pub.publish(move)
rate.sleep()
i = i + 1
my_response.success = True
move.angular.z = 0
move.linear.x = 0
pub.publish(move)
return my_response
def squareCallback(request):
rospy.loginfo("Lets initialize the robot move...")
##initializing our response object
response = MyCustomServiceMessageResponse()
#create the robot movement object
square = MoveBB8()
errors = 0
for i in range(request.repetitions):
#movin with a side size
try:
square.movesinSquare(request.radius)
except Exception as e:
errors += 1
if errors == 0:
response.success = True
else:
response.success = False
return response
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_circle_custom Has Been Called")
move_circle.linear.x = 0.2
move_circle.angular.z = 0.2
i = 0
while i <= request.duration:
my_pub.publish(move_circle)
rate.sleep()
i += 1
move_circle.linear.x = 0
move_circle.angular.z = 0
my_pub.publish(move_circle)
rospy.loginfo("Finished Service move_bb8_in_circle_custom")
response = MyCustomServiceMessageResponse()
response.success = True
return response
def my_callback(request):
rospy.loginfo("Your request to move bb8 in a circle has been received.")
# start moving robot in circle for request.duration in seconds
move.linear.x = 0.5
move.angular.z = 0.5
pub.publish(move)
rospy.sleep(request.duration)
# stop moving robot once request.duration is completed
move.linear.x = 0.0
move.angular.z = 0.0
pub.publish(move)
rospy.loginfo("Your bb8 has executed circles for the requested duration.")
# set response of message to True
response = MyCustomServiceMessageResponse()
response.success = True
return response # the service Response class, in this case MyCustomServiceMessage
def my_callback(request):
for side in range(4):
move_straight(10.5)
stop(5)
turn(7)
#while i <= request.duration:
# i+=1
# j = 0
# while j < 5:
# move.linear.x += 0.2
# move.angular.z += 0.0
# pub.publish(move)
# rate.sleep()
response = MyCustomServiceMessageResponse()
response.success = True
move.linear.x = 0.0
move.angular.z = 0.0
pub.publish(move)
rate.sleep()
return response # the service Response class, in this case EmptyResponse
def my_callback(request):
res = MyCustomServiceMessageResponse()
res.success = True
return res
#! /usr/bin/env python
import rospy
from std_srvs.srv import Empty, EmptyResponse
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageResponse
from bb8_move_circle_class import MoveBB8
def my_callback(request):
rospy.loginfo("The Service move_bb8_in_circle has been called")
movebb8_object = MoveBB8()
movebb8_object.move_bb8(request.duration)
rospy.loginfo("Finished service move_bb8_in_circle for requested duration")
response = custom_request
custom_request.success = True
return response
rospy.init_node('service_move_bb8_in_circle_server')
my_service = rospy.Service('/move_bb8_in_circle', MyCustomServiceMessage,
my_callback)
custom_request = MyCustomServiceMessageResponse()
rospy.loginfo("Service /move_bb8_in_circle Ready")
rospy.spin() # mantain the service open.
