def main():
rospy.init_node('exercise_4_3_client')
rospy.wait_for_service('/move_bb8_in_circle_custom')
service = rospy.ServiceProxy('/move_bb8_in_circle_custom', MyCustomServiceMessage)
req = MyCustomServiceMessageRequest()
req.duration = 5
service(req)
def main():
rospy.init_node("call_move_square_custom_node")
#waiting
rospy.wait_for_service("/move_bb8_in_square_custom")
try:
rospy.loginfo("Executing client...")
#open the service client
moving_robot = rospy.ServiceProxy('/move_bb8_in_square_custom',
MyCustomServiceMessage)
#pack the request actions in the object
actions = MyCustomServiceMessageRequest()
actions.radius = 2.0
actions.repetitions = 2
#send the actions to the server
result = moving_robot(actions)
if result:
rospy.loginfo("The mission is completed!")
#pack the request actions in the object
actions2 = MyCustomServiceMessageRequest()
actions2.radius = 3.0
actions2.repetitions = 1
#send the actions to the server
result2 = moving_robot(actions2)
if result2:
rospy.loginfo("The mission is completed!")
except:
rospy.loginfo("An error occured in client")
#! /usr/bin/env python
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest # you import the service message python classes generated from Empty.srv.
import sys
# Initialise a ROS node with the name service_client
rospy.init_node('bb8_move_in_circle_service_client_custom')
rospy.wait_for_service('/move_bb8_in_circle_custom')
bb8_service = rospy.ServiceProxy('/move_bb8_in_circle_custom',
MyCustomServiceMessage)
bb8_object = MyCustomServiceMessageRequest()
result = bb8_service(10)
print result
#! /usr/bin/env python
import rospkg
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
rospy.init_node('service_move_bb8_in_circle_custom_client') # Initialise a ROS node with the name service_client
rospy.wait_for_service('/move_bb8_in_circle_custom') # Wait for the service client /move_bb8_in_circle_custom to be running
move_bb8_in_circle_service_client = rospy.ServiceProxy('/move_bb8_in_circle_custom', MyCustomServiceMessage) # Create the connection to the service
move_bb8_in_circle_request_object = MyCustomServiceMessageRequest() # Create an object of type EmptyRequest
"""
# BB8CustomServiceMessage
float64 side # The distance of each side of the circle
int32 repetitions # The number of times BB-8 has to execute the circle movement when the service is called
---
bool success # Did it achieve it?
"""
move_bb8_in_circle_request_object.duration = 4
rospy.loginfo("Doing Service Call...")
result = move_bb8_in_circle_service_client(move_bb8_in_circle_request_object) # Send through the connection the path to the trajectory file to be executed
rospy.loginfo(str(result)) # Print the result given by the service called
rospy.loginfo("END of Service call...")
#! /usr/bin/env python
import rospy
import rospkg
import sys
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
rospy.init_node('service_client')
rospy.wait_for_service('/move_bb8_in_circle_custom')
start_bb8_service = rospy.ServiceProxy('/move_bb8_in_circle_custom',
MyCustomServiceMessage)
start_bb8_object = MyCustomServiceMessageRequest()
start_bb8_object.duration = 5
result = start_bb8_service(start_bb8_object)
# Print the result given by the service called
print result
#! /usr/bin/env python
import rospy
import sys
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
rospy.init_node('service_client')
rospy.wait_for_service('/move_bb8_in_circle_custom')
s = rospy.ServiceProxy('/move_bb8_in_circle_custom', MyCustomServiceMessage)
s_object = MyCustomServiceMessageRequest()
s_object.duration = 5.0
result = s(s_object)
print result
#! /usr/bin/env python
import rospkg
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
# Initialise a ROS node with the name service_move_bb8_in_circle_client
rospy.init_node('service_move_bb8_in_circle_custom_client')
# Wait for the service client /move_bb8_in_circle to be running
rospy.wait_for_service('/move_bb8_in_circle_custom')
# Create the connection to the service
move_bb8_in_circle_service_client = rospy.ServiceProxy(
'/move_bb8_in_circle_custom', MyCustomServiceMessage)
# Create an object of type EmptyRequest
move_bb8_in_circle_request_object = MyCustomServiceMessageRequest()
#Duration for which you would like to execute the service
move_bb8_in_circle_request_object.duration = 10
# Call the service by sending the request object to the server
result = move_bb8_in_circle_service_client(move_bb8_in_circle_request_object)
# Print the result given by the service called
print result
#! /usr/bin/env python
"""
This node is launched by the call_bb8_move_custom_service_server.launch file. This node will
start the /move_bb8_in_circle_custom service by passing a MyCustomServiceMessageRequest object
into a /move_bb8_in_circle_custom proxy.
"""
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
# initialise a ROS node with the name move_custom_circle
rospy.init_node('move_custom_circle')
# wait for the service client /move_bb8_in_circle_custom to be running
rospy.wait_for_service('/move_bb8_in_circle_custom')
# create the connection to the service
move_circle_service = rospy.ServiceProxy('/move_bb8_in_circle_custom', MyCustomServiceMessage)
# set variable with move custom circle request
request_object = MyCustomServiceMessageRequest()
# set custom circle request duration to 10 seconds
request_object.duration = 10
# pass service the request object
result = move_circle_service(request_object)
# print the result given by the service called
print(result)
#! /usr/bin/env python
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
rospy.init_node('start_bb8_square_move')
print("Waiting for /bb8service to start")
rospy.wait_for_service('/move_bb8_in_square_custom')
req = MyCustomServiceMessageRequest()
req.radius = 0.1
req.repetitions = 2
bb8_move_custom_square_service = rospy.ServiceProxy('/move_bb8_in_square_custom', MyCustomServiceMessage)
print("Requesting BB8 move in custom square")
result1 = bb8_move_custom_square_service(req)
req.radius = 0.3
req.repetitions = 1
result2 = bb8_move_custom_square_service(req)
if result1.success == False or result2.success == False:
print("Move failed")
else:
print("Successfully completed the move")
#!/usr/bin/env python
import rospy
from my_custom_srv_msg_pkg.srv import MyCustomServiceMessage, MyCustomServiceMessageRequest
rospy.init_node('call_my_server')
rospy.wait_for_service('/move_bb8_in_circle_custom')
my_connector=rospy.ServiceProxy('/move_bb8_in_circle_custom', MyCustomServiceMessage)
my_duration=MyCustomServiceMessageRequest()
my_duration.duration=10
ITyped=my_connector(my_duration)
print(ITyped)