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
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")