40 lines
1.1 KiB
Python
40 lines
1.1 KiB
Python
|
import rclpy
|
||
|
from rclpy.node import Node
|
||
|
|
||
|
# Service Type Files
|
||
|
from custom_interfaces.srv import CustomSrv1
|
||
|
|
||
|
# Service Minimal Host and Client
|
||
|
import pubsub.pubsub_library_v3 as lib
|
||
|
|
||
|
|
||
|
def main(args=None):
|
||
|
rclpy.init(args=args)
|
||
|
|
||
|
# Create Service Client
|
||
|
minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
|
||
|
|
||
|
# Create Service Request
|
||
|
srv_request = CustomSrv1.Request()
|
||
|
srv_request.command = "Hallo"
|
||
|
minimal_client.send_request(srv_request) # send request to service provider
|
||
|
|
||
|
while rclpy.ok():
|
||
|
try:
|
||
|
rclpy.spin_once(minimal_client, timeout_sec=0.1)
|
||
|
|
||
|
done, response = minimal_client.check_if_service_complete()
|
||
|
if done:
|
||
|
print(response.success)
|
||
|
else:
|
||
|
print("Service not complete")
|
||
|
|
||
|
except (KeyboardInterrupt, SystemExit):
|
||
|
print("\n\nShutting down...")
|
||
|
minimal_client.destroy_node()
|
||
|
rclpy.shutdown()
|
||
|
|
||
|
|
||
|
if __name__ == '__main__':
|
||
|
main()
|