def callback_local_to_remote(message):
rospy.logdebug("Local subscriber from topic " + topic_name +
' of type ' + topic_type + ' got data: ' +
str(message) + ' which is republished remotely.')
dict_msg = from_ROS_to_dict(message)
if not self.client.terminated:
bridgepub.publish(dict_msg)
def callback_from_remote_service_call(request):
ros_req = from_dict_to_ROS(request,
service_type + 'Request',
srv=True)
rospy.loginfo("Waiting for server " + service_name + "...")
rospy.wait_for_service(service_name)
# TODO: error handling in services...
resp = rosservprox.call(ros_req)
resp_dict = from_ROS_to_dict(resp)
return True, resp_dict
def callback_from_remote_service_call(request):
ros_req = from_dict_to_ROS(request,
service_type + 'Request',
srv=True)
rospy.loginfo("Waiting for server " + service_name + "...")
rospy.wait_for_service(service_name)
# TODO: error handling in services...
try:
resp = rosservprox.call(ros_req)
resp_dict = from_ROS_to_dict(resp)
return_val = True
except rospy.ServiceException as exc:
resp_dict = dict()
return_val = False
rospy.logerr("Service did not process request: " + str(exc))
return return_val, resp_dict
def callback_from_local_srv_call(request):
rospy.loginfo("Got a SRV call to " + service_name + " of type " +
service_type)
req_dict = from_ROS_to_dict(request)
result = {'responded': False, 'response': None}
def cb(success, response):
result['responded'] = True
if success:
result['response'] = response
remote_service_client.request(req_dict, cb)
while not rospy.is_shutdown() and not result['responded']:
rospy.sleep(0.1)
if result['response'] is None:
rospy.logerr('Service call didnt succeed (' +
str(service_name) + ' of type ' +
str(service_type))
return None
return from_dict_to_ROS(result['response'],
service_type + 'Response',
srv=True)
