def spin(self):
self.future = self.client.call_async(Empty.Request())
while rclpy.ok():
print("spinning...")
rclpy.spin_once(self)
if self.future.done():
if self.future.result() is not None:
self.get_logger().info('hooray got service result')
else:
self.get_logger.info('oh noes, service failed')
break
def test_waitable_with_server(self):
self.waitable = ServerWaitable(self.node)
self.node.add_waitable(self.waitable)
client = self.node.create_client(EmptySrv, 'test_server')
thr = self.start_spin_thread(self.waitable)
client.call_async(EmptySrv.Request())
thr.join()
assert self.waitable.future.done()
assert isinstance(self.waitable.future.result()['server'], EmptySrv.Request)
self.node.destroy_client(client)
def test_waitable_with_client(self):
self.waitable = ClientWaitable(self.node)
self.node.add_waitable(self.waitable)
server = self.node.create_service(EmptySrv, 'test_client', lambda req, resp: resp)
while not _rclpy.rclpy_service_server_is_available(self.node.handle, self.waitable.client):
time.sleep(0.1)
thr = self.start_spin_thread(self.waitable)
_rclpy.rclpy_send_request(self.waitable.client, EmptySrv.Request())
thr.join()
assert self.waitable.future.done()
assert isinstance(self.waitable.future.result()['client'], EmptySrv.Response)
self.node.destroy_service(server)
def get_msg_empty():
req = Empty.Request()
resp = Empty.Response()
return [[req, resp]]
def topic_cb(self, msg):
print("sub_cb({})".format(msg.data))
self.client_futures.append(self.client.call_async(Empty.Request()))