def destroy_client(self, client: Client) -> bool:
"""
Destroy a service client created by the node.
:return: ``True`` if successful, ``False`` otherwise.
"""
if client in self.__clients:
self.__clients.remove(client)
try:
client.destroy()
except InvalidHandle:
return False
return True
return False
def create_client(self,
srv_type,
srv_name: str,
*,
qos_profile: QoSProfile = qos_profile_services_default,
callback_group: CallbackGroup = None) -> Client:
"""
Create a new service client.
:param srv_type: The service type.
:param srv_name: The name of the service.
:param qos_profile: The quality of service profile to apply the service client.
:param callback_group: The callback group for the service client. If ``None``, then the
nodes default callback group is used.
"""
if callback_group is None:
callback_group = self.default_callback_group
check_for_type_support(srv_type)
failed = False
try:
[client_handle, client_pointer
] = _rclpy.rclpy_create_client(self.handle, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
client = Client(self.handle, self.context, client_handle,
client_pointer, srv_type, srv_name, qos_profile,
callback_group)
self.clients.append(client)
callback_group.add_entity(client)
return client
def wait_for_service(
node: Node, client: Client, timeout: Optional[float] = SERVICE_TIMEOUT
):
"""
Wait for a service to become available.
:param node: Node to use for logging
:param client: Client of the service.
:param timeout: Optional timeout to wait before logging again
"""
while not client.wait_for_service(timeout_sec=timeout):
node.get_logger().info(f"Waiting for {client.srv_name} to become available")
def create_client(self, srv_type, srv_name, qos_profile=qos_profile_services_default):
if srv_type.__class__._TYPE_SUPPORT is None:
srv_type.__class__.__import_type_support__()
if srv_type.__class__._TYPE_SUPPORT is None:
raise NoTypeSupportImportedException
[client_handle, client_pointer] = _rclpy.rclpy_create_client(
self.handle,
srv_type,
srv_name,
qos_profile.get_c_qos_profile())
client = Client(
self.handle, client_handle, client_pointer, srv_type, srv_name, qos_profile)
self.clients.append(client)
return client
def create_client(self,
srv_type,
srv_name,
*,
qos_profile=qos_profile_services_default,
callback_group=None):
if callback_group is None:
callback_group = self._default_callback_group
check_for_type_support(srv_type)
failed = False
try:
[client_handle, client_pointer
] = _rclpy.rclpy_create_client(self.handle, srv_type, srv_name,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(srv_name, is_service=True)
client = Client(self.handle, client_handle, client_pointer, srv_type,
srv_name, qos_profile, callback_group)
self.clients.append(client)
callback_group.add_entity(client)
return client