def end_cb(self, req):
if req.data == True:
self.odom_end = self.odom[:]
self.end = False
self.calibration()
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def emergency_stop_cb(self, req):
if req.data == True:
self.emergency_stop = True
else:
self.emergency_stop = False
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def clear_cb(self, req):
if req.data == True:
self.clear = True
else:
self.clear = False
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def station_keeping_cb(self, req): if req.data == True: self.goal = self.stop_pos self.is_station_keeping = True else: self.is_station_keeping = False res = SetBoolResponse() res.success = True res.message = "recieved" return res
def activacion(self, req):
if req.data == True:
self.flag = True
rospy.loginfo(rospy.get_caller_id() + "Recibida peticion de True")
return SetBoolResponse(True, "Activado")
else:
self.flag = False
rospy.loginfo(rospy.get_caller_id() + "Recibida peticion de False")
return SetBoolResponse(False, "Desactivado")
def stringCallback(req):
# 显示请求数据
if req.data:
rospy.loginfo("Hello ROS!")
# 反馈数据
return SetBoolResponse(True, "Print Successully")
else:
# 反馈数据
return SetBoolResponse(False, "Print Failed")
def handleSetEnabledSrv(self, req):
res = SetBoolResponse()
res.success = False
try:
self.listeningMovementProxy.setEnabled(req.data)
res.success = True
return res
except RuntimeError, e:
rospy.logerr("Exception caught:\n%s", e)
return res
def handleSetEnabledSrv(self, req):
res = SetBoolResponse()
res.success = False
try:
self.backgroundMovementProxy.setEnabled(req.data)
res.success = True
return res
except RuntimeError, e:
rospy.logerr("Exception caught:\n%s", e)
return res
def enable_detection(self, req):
global enable_node
enable_node = req.data
res = SetBoolResponse()
res.success = True
if enable_node:
res.message = "Node enabled"
else:
res.message = "Node disabled"
return res
def serviceCallback(msg):
"""Enable Service Callback
Arguments:
msg {BoolMsg} -- TRUE/FALSE
"""
global enabled
enabled = msg.data
response = SetBoolResponse()
response.success = True
return response
def setLoopFlagServiceCallback(self, req):
res = SetBoolResponse()
self.loop_flag = req.data
res.success = True
if req.data == True:
res.message = "Starting publishing images in loop."
else:
res.message = "Stopping publishing images in loop."
return res
def grasp_something(request):
if (request.data == True):
length = 0.03
elif (request.data == False):
length = 0.021
gripper_client = actionlib.SimpleActionClient('/gripper_move',
GripperMoveAction)
gripper_move(gripper_client, length, 10, 10, 10)
response = SetBoolResponse()
response.success = True
return response
def moveCloser(self, req):
if req.data:
self.approach_now = True
self.orientation_fixed = False
self.update_robot_pose()
return SetBoolResponse(True, "Service is successfully called")
else:
self.approach_now = False
return SetBoolResponse(False, "Service is not successfully called")
def buzzer_callback(msg):
if not isinstance(msg, SetBoolRequest):
return
if msg.data:
driver.buzzer_open()
else:
driver.buzzer_close()
response = SetBoolResponse()
response.success = True
return response
def enable_service_cb(self, req):
self.enable_trajectory = req.data
resp = SetBoolResponse()
resp.success = True
if req.data:
resp.message = "Topp Tracker enabled successfully."
else:
resp.message = "Topp Tracker disabled successfully."
return resp
def _handle_foodload(self, req):
rospy.logdebug("Request of LoadFood Recieved..Processing")
calibration_req = SetBoolRequest()
calibration_req.data = req.data
cal_response = self._calibrate_load_sensor_client(calibration_req)
rospy.logdebug("Calibration complete!")
response = SetBoolResponse()
response.success = cal_response.success
response.message = cal_response.message
return response
def string_callback(req):
getpoetry()
if req.data:
ttt = rospy.get_param('truth').replace('。', '')
print(ttt)
print(poetry[ttt])
#text = "床前明月光，疑是地上霜。举头望明月，低头思故乡。".encode('gbk')
XF_text(poetry[ttt].encode('gbk'))
return SetBoolResponse(True, "Print Successully")
else:
return SetBoolResponse(False, "Print Failed")
def destroy(req):
print "received this request: ", req
print "Roger that!.."
# do your logic here and send a respinse after it
response = SetBoolResponse()
response.success = True
if req.data:
response.message = "You are victorious!"
else:
response.message = "enemy spared!"
return response
def calibrate_callback(self, req):
rospy.logdebug(
"Request of Load Sensor Calibration Received..Processing")
self.calibrate(adding_object=req.data)
rospy.logdebug("Load Sensor Calibration complete!")
response = SetBoolResponse()
response.success = True
response.message = "Calibration " + str(
self._carrying_object) + " to weight=" + str(self._tare)
return response
def crash_callback(self, request):
response = SetBoolResponse()
avg_lsr = (self.laser_data.ranges[-2] + self.laser_data.ranges[2]) / 2
if avg_lsr <= self.distance:
# close enough to wall
response.success = True
else:
response.success = False
return response
def estop_cb(self, req):
if req.data == True:
self.emergencyStop = True
rospy.loginfo("EStop")
else:
self.emergencyStop = False
rospy.loginfo("Release EStop")
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def handleDisableBasicAwareness(self, req):
res = SetBoolResponse()
res.success = False
try:
self.proxy.basic_awareness.setEnabled(False) #True of False
res.success = True
res.message = str("Disabled")
return res
except RuntimeError, e:
rospy.logerr("Exception caught:\n%s", e)
return res
def emergency_stop_cb(self, req):
if req.data == True:
self.emergency_stop = True
rospy.loginfo("Mode: Joystick")
else:
self.emergency_stop = False
rospy.loginfo("Mode: Autonomous")
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def setStandByCb(self, req):
'''
ROS service server to enable/disable safety override
'''
response = SetBoolResponse()
self.set_desired_standby_mode = req.data
response.success = True
response.message = 'received petition to set the standby mode to %d'%req.data
return response
def setOdometry(data):
global odometryData, robViewMode
resp = SetBoolResponse()
odometryData = data
robViewMode = 3
udp.view3Send[1] = robViewMode # mode number
udp.view3Send[2] = int(odometryData.position.x)
udp.view3Send[3] = int(odometryData.position.y)
udp.view3Send[4] = int(odometryData.orientation.z)
resp.ok = (sendRobView() == 1)
return [resp.ok, ""]
def no_signal_cb(self, req):
if req.data == True:
self.check_no_signal = True
rospy.loginfo("No Signal")
else:
self.check_no_signal = False
self.motor_msg.vertical = 0
rospy.loginfo("Got Signal")
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def _lock_cb(self, msg):
"""
@brief Can be used to get sync access to server
"""
if msg.data:
self._mutex.acquire()
else:
try:
self._mutex.release()
except BaseException:
return SetBoolResponse(False, "Mutex already unlocked.")
return SetBoolResponse(True, "Ok")
def thread_bg(self, client, request):
wx.CallAfter(self.show_dialog)
self.action_stop()
rospy.sleep(1)
try:
resp = client.call(request)
wx.CallAfter(self.update_reply_show, resp)
except rospy.ServiceException, e:
resp = SetBoolResponse()
resp.success = False
resp.message = 'no such service in simulation'
wx.CallAfter(self.update_reply_show, resp)
def dive_cb(self, req):
if req.data == True:
rospy.loginfo("Start Diving")
self.time_start = time.time()
self.start_diving = True
else:
rospy.loginfo("Stop Diving")
self.start_diving = False
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def navigation_cb(self, req):
if req.data == True:
rospy.loginfo("Start Navigation")
self.start_navigation = True
self.set_path_succ = False
else:
rospy.loginfo("Stop Navigation")
self.start_navigation = False
res = SetBoolResponse()
res.success = True
res.message = "recieved"
return res
def setOdometry(data):
global odometryData, robViewMode
resp = SetBoolResponse()
odometryData = data
robViewMode = 3
udp.view3Send[4] = robViewMode # mode number
udp.view3Send[8] = int(odometryData.position.x)
udp.view3Send[12] = int(odometryData.position.y)
udp.view3Send[16] = int(odometryData.orientation.z)
udp.sendRobView()
resp.success = True
return resp
def start_aruco_place(self, req):
success = self.pick_type.pick_and_place_aruco("place")
reply = SetBoolResponse()
reply.success = success
reply.message = ""
return reply
