def _init_gateway_services(self):
self._gateway_services = {}
self._gateway_services['gateway_info'] = rocon_utilities.SubscriberProxy('~gateway_info', gateway_msgs.GatewayInfo)
self._gateway_services['flip'] = rospy.ServiceProxy('~flip', gateway_srvs.Remote)
self._gateway_services['advertise'] = rospy.ServiceProxy('~advertise', gateway_srvs.Advertise)
self._gateway_services['pull'] = rospy.ServiceProxy('~pull', gateway_srvs.Remote)
self._gateway_publishers = {}
self._gateway_publishers['force_update'] = rospy.Publisher("~force_update", std_msgs.Empty)
def _init_gateway_services(self):
self._gateway_services = {}
self._gateway_services[
'gateway_info'] = rocon_utilities.SubscriberProxy(
'~gateway_info', gateway_msgs.GatewayInfo)
self._gateway_services['flip'] = rospy.ServiceProxy(
'~flip', gateway_srvs.Remote)
self._gateway_services['advertise'] = rospy.ServiceProxy(
'~advertise', gateway_srvs.Advertise)
self._gateway_services['pull'] = rospy.ServiceProxy(
'~pull', gateway_srvs.Remote)
def local_gateway_name():
gateway_name = None
gateway_info_service = rocon_utilities.SubscriberProxy(
'~gateway_info', gateway_msgs.GatewayInfo)
while not rospy.is_shutdown():
gateway_info = gateway_info_service(timeout=rospy.Duration(0.2))
if gateway_info:
if gateway_info.connected:
gateway_name = gateway_info.name
break
rospy.sleep(1.0)
return gateway_name
def wait_for_gateway(ns=_gateway_namespace, timeout=rospy.Duration(5.0)):
'''
Slowly loop (and block) until the gateway is connected to a hub.
'''
gateway_info_service = rocon_utilities.SubscriberProxy(
ns + '/gateway_info', gateway_msgs.GatewayInfo)
start_time = rospy.Time.now()
while not rospy.is_shutdown():
gateway_info = gateway_info_service()
if gateway_info.connected:
break
if rospy.Time.now() - start_time > timeout:
raise GatewaySampleRuntimeError(
"timed out waiting for the gateway to connect to a hub")
rospy.sleep(0.5)
def configure(self):
self._gateway_info = rocon_utilities.SubscriberProxy(self.gateway_namespace + '/gateway_info', gateway_msgs.GatewayInfo)
self._remote_gateway_info = rospy.ServiceProxy(self.gateway_namespace + '/remote_gateway_info', gateway_srvs.RemoteGatewayInfo)
def test_subscriber_proxy(self):
talker_data = rocon_utilities.SubscriberProxy('chatter', String)()
self.assertEquals("dude", talker_data.data)