def get_available_states(lifecycle_node):
node = rclpy.create_node('lc_client_py')
cli = node.create_client(GetAvailableStates, lifecycle_node + '/get_available_states')
req = GetAvailableStates.Request()
cli.call(req)
cli.wait_for_future()
print('%s has %u available states' % (lifecycle_node, len(cli.response.available_states)))
for state in cli.response.available_states:
print('id: %u\tlabel: %s' % (state.id, state.label))
def get_available_states(lifecycle_node):
node = rclpy.create_node('lc_client_py')
service_name = lifecycle_node + '/get_available_states'
cli = node.create_client(GetAvailableStates, service_name)
if not cli.wait_for_service(timeout_sec=5.0):
node.get_logger().warn('Unable to call service %s' % service_name)
return
req = GetAvailableStates.Request()
cli.call(req)
cli.wait_for_future()
node.get_logger().info(
'%s has %u available states' %
(lifecycle_node, len(cli.response.available_states)))
for state in cli.response.available_states:
node.get_logger().info('id: %u\tlabel: %s' % (state.id, state.label))
def get_available_states(lifecycle_node):
node = rclpy.create_node('lc_client_py')
service_name = lifecycle_node + '/get_available_states'
cli = node.create_client(GetAvailableStates, service_name)
if not cli.wait_for_service(timeout_sec=5.0):
node.get_logger().warn('Unable to call service %s' % service_name)
return
req = GetAvailableStates.Request()
future = cli.call_async(req)
rclpy.spin_until_future_complete(node, future)
if future.result() is not None:
resp = future.result()
node.get_logger().info('%s has %u available states' %
(lifecycle_node, len(resp.available_states)))
for state in resp.available_states:
node.get_logger().info('id: %u\tlabel: %s' %
(state.id, state.label))
else:
node.get_logger.error('Exception %r during call %s' %
(future.exception(), service_name))