def run_empty_service():
ros_client = Ros('127.0.0.1', 9090)
ros_client.run()
service = Service(ros_client, '/test_empty_service', 'std_srvs/Empty')
service.advertise(lambda req, resp: True)
time.sleep(1)
client = Service(ros_client, '/test_empty_service', 'std_srvs/Empty')
client.call(ServiceRequest())
service.unadvertise()
time.sleep(2)
service.ros.terminate()
def run_add_two_ints_service():
ros_client = Ros('127.0.0.1', 9090)
ros_client.run()
def add_two_ints(request, response):
response['sum'] = request['a'] + request['b']
return False
service_name = '/test_sum_service'
service_type = 'rospy_tutorials/AddTwoInts'
service = Service(ros_client, service_name, service_type)
service.advertise(add_two_ints)
time.sleep(1)
client = Service(ros_client, service_name, service_type)
result = client.call(ServiceRequest({'a': 2, 'b': 40}))
assert (result['sum'] == 42)
service.unadvertise()
time.sleep(2)
service.ros.terminate()