def requester(service_type, service_name, values, period):
# TODO(wjwwood) this logic should come from a rosidl related package
try:
package_name, srv_name = service_type.split('/', 2)
if not package_name or not srv_name:
raise ValueError()
except ValueError:
raise RuntimeError('The passed service type is invalid')
# TODO(sloretz) node API to get topic types should indicate if action or srv
middle_module = 'srv'
if service_name.endswith('/_action/get_result') or service_name.endswith(
'/_action/send_goal'):
middle_module = 'action'
module = importlib.import_module(package_name + '.' + middle_module)
srv_module = getattr(module, srv_name)
values_dictionary = yaml.load(values)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' %
(package_name, srv_name))
cli = node.create_client(srv_module, service_name)
request = srv_module.Request()
try:
set_msg_fields(request, values_dictionary)
except SetFieldError as e: # noqa: F841
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
if not cli.service_is_ready():
print('waiting for service to become available...')
cli.wait_for_service()
while True:
print('requester: making request: %r\n' % request)
last_call = time.time()
future = cli.call_async(request)
rclpy.spin_until_future_complete(node, future)
if future.result() is not None:
print('response:\n%r\n' % future.result())
else:
raise RuntimeError('Exception while calling service: %r' %
future.exception())
if period is None or not rclpy.ok():
break
time_until_next_period = (last_call + period) - time.time()
if time_until_next_period > 0:
time.sleep(time_until_next_period)
node.destroy_node()
rclpy.shutdown()
def publisher(message_type, topic_name, values, node_name, period, print_nth,
once):
# TODO(dirk-thomas) this logic should come from a rosidl related package
try:
package_name, message_name = message_type.split('/', 2)
if not package_name or not message_name:
raise ValueError()
except ValueError:
raise RuntimeError('The passed message type is invalid')
module = importlib.import_module(package_name + '.msg')
msg_module = getattr(module, message_name)
values_dictionary = yaml.load(values)
if not isinstance(values_dictionary, dict):
return 'The passed value needs to be a dictionary in YAML format'
if not node_name:
node_name = 'publisher_%s_%s' % (package_name, message_name)
rclpy.init()
node = rclpy.create_node(node_name)
pub = node.create_publisher(msg_module, topic_name)
msg = msg_module()
try:
set_msg_fields(msg, values_dictionary)
except SetFieldError as e: # noqa: F841
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
print('publisher: beginning loop')
count = 0
def timer_callback():
nonlocal count
count += 1
if print_nth and count % print_nth == 0:
print('publishing #%d: %r\n' % (count, msg))
pub.publish(msg)
timer = node.create_timer(period, timer_callback)
if once:
rclpy.spin_once(node)
time.sleep(
0.1) # make sure the message reaches the wire before exiting
else:
rclpy.spin(node)
node.destroy_timer(timer)
node.destroy_node()
rclpy.shutdown()
def requester(service_type, service_name, values, period):
# TODO(wjwwood) this logic should come from a rosidl related package
try:
package_name, srv_name = service_type.split('/', 2)
if not package_name or not srv_name:
raise ValueError()
except ValueError:
raise RuntimeError('The passed service type is invalid')
module = importlib.import_module(package_name + '.srv')
srv_module = getattr(module, srv_name)
values_dictionary = yaml.load(values)
rclpy.init()
node = rclpy.create_node('requester_%s_%s' % (package_name, srv_name))
cli = node.create_client(srv_module, service_name)
request = srv_module.Request()
try:
set_msg_fields(request, values_dictionary)
except SetFieldError as e:
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
if not cli.service_is_ready():
print('waiting for service to become available...')
cli.wait_for_service()
while True:
print('requester: making request: %r\n' % request)
last_call = time.time()
cli.call(request)
cli.wait_for_future()
if cli.response is not None:
print('response:\n%r\n' % cli.response)
if period is None or not rclpy.ok():
break
time_until_next_period = (last_call + period) - time.time()
if time_until_next_period > 0:
time.sleep(time_until_next_period)
node.destroy_node()
rclpy.try_shutdown(
) # avoid duplicate shutdown from shutdown within cli.wait_for_future()
def publisher(message_type, topic_name, values, node_name, period, print_nth,
once):
msg_module = import_message_type(topic_name, message_type)
values_dictionary = yaml.load(values)
if not isinstance(values_dictionary, dict):
return 'The passed value needs to be a dictionary in YAML format'
if not node_name:
node_name = NODE_NAME_PREFIX + '_publisher_%s' % (message_type.replace(
'/', '_'), )
rclpy.init()
node = rclpy.create_node(node_name)
pub = node.create_publisher(msg_module, topic_name)
msg = msg_module()
try:
set_msg_fields(msg, values_dictionary)
except SetFieldError as e: # noqa: F841
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
print('publisher: beginning loop')
count = 0
def timer_callback():
nonlocal count
count += 1
if print_nth and count % print_nth == 0:
print('publishing #%d: %r\n' % (count, msg))
pub.publish(msg)
timer = node.create_timer(period, timer_callback)
if once:
rclpy.spin_once(node)
time.sleep(
0.1) # make sure the message reaches the wire before exiting
else:
rclpy.spin(node)
node.destroy_timer(timer)
node.destroy_node()
rclpy.shutdown()
def publisher(message_type, topic_name, values, period, once):
# TODO(dirk-thomas) this logic should come from a rosidl related package
try:
package_name, message_name = message_type.split('/', 2)
if not package_name or not message_name:
raise ValueError()
except ValueError:
raise RuntimeError('The passed message type is invalid')
module = importlib.import_module(package_name + '.msg')
msg_module = getattr(module, message_name)
values_dictionary = yaml.load(values)
if not isinstance(values_dictionary, dict):
return 'The passed value needs to be a dictionary in YAML format'
rclpy.init()
node = rclpy.create_node('publisher_%s_%s' % (package_name, message_name))
pub = node.create_publisher(msg_module, topic_name)
msg = msg_module()
try:
set_msg_fields(msg, values_dictionary)
except SetFieldError as e:
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
print('publisher: beginning loop')
while rclpy.ok():
pub.publish(msg)
print('publishing %r\n' % msg)
if once:
time.sleep(
0.1) # make sure the message reaches the wire before exiting
break
time.sleep(period)
node.destroy_node()
rclpy.shutdown()