def main(args=None):
logging.basicConfig(format='%(asctime)s %(levelname)-8s %(message)s',
level=logging.INFO,
datefmt='%Y-%m-%d %H:%M:%S')
rclpy.init(args=args)
executor = MultiThreadedExecutor()
odom_node = TransformLoggerNode('odom', 'base_link', executor=executor)
map_node = TransformLoggerNode('map', 'base_link', executor=executor)
executor.add_node(odom_node)
executor.add_node(map_node)
try:
#rclpy.spin(log_node)
while True:
executor.spin_once()
#logging.info(f"num nodes is: {len(executor.get_nodes())}")
if len(executor.get_nodes()) == 0:
break
if odom_node.is_done() and map_node.is_done():
break
except:
logging.warning(f"hit exception")
pass
#executor.shutdown()
finally:
logging.warning(f"cleaning up")
odom_node.plot_data()
map_node.plot_data()
plt.pause(1)
plt.show(block=True)
odom_node.destroy_node()
map_node.destroy_node()
def run(self):
qDebug('Start called on RclpySpinner, spinning ros2 node')
executor = MultiThreadedExecutor()
executor.add_node(self._node)
while rclpy.ok() and not self._abort:
executor.spin_once(timeout_sec=1.0)
if not self._abort:
qWarning('rclpy.shutdown() was called before QThread.quit()')
def main(args=None):
# Pythonクライアントライブラリの初期化
rclpy.init(args=args)
executor = MultiThreadedExecutor()
srv = Sender()
executor.add_node(srv)
while rclpy.ok():
executor.spin_once()
srv.background()
rclpy.shutdown()
def main():
args = parse_args()
rclpy.init()
exe = MultiThreadedExecutor()
future = Future()
node = HelloActionServerNode(args.name, args.delay, future)
node.get_logger().info("Node started")
exe.add_node(node)
try:
exe.spin_until_future_complete(future, timeout_sec=200)
exe.spin_once()
except KeyboardInterrupt:
node.get_logger().info("KeyboardInterrupt: Aborting all goals")
node.abort()
node.get_logger().info("Node finished")
def main(args=None):
rclpy.init(args=args)
try:
executor = MultiThreadedExecutor()
node_a = FakeLifecycleNode('A')
node_b = FakeLifecycleNode('B')
executor.add_node(node_a)
executor.add_node(node_b)
lc = LifecycleClient()
try:
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2)
lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge
lc.change_A_mode('AA')
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(3) # give the system some time to converge
lc.change_A_mode(
'AA'
) # this is the tested aspect: call redundant, should be ignored
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge
lc.change_A_mode('BB')
executor.spin()
finally:
executor.shutdown()
node_a.destroy_node()
node_b.destroy_node()
finally:
rclpy.shutdown()
return 0
