RoverLehre/ROS2_pubsub
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Correction topic & services

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This commit is contained in:
winterhalderp 2021-04-29 16:04:31 +02:00
parent 56a4127edc
commit e2aa178cac
4 changed files with 47 additions and 36 deletions
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11
src/pubsub/pubsub/pubsub_library_v3.py
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@ -93,10 +93,12 @@ class MinimalSubscriber(Node):
self.listener_callback, # Callback Function
self.NUM_MSGS) # List of saved messages
self.subscription # prevent unused variable warning
print("MinimalSubscriber `%s` created"%(self.NODE_NAME))
return
def listener_callback(self, msg):
#self.get_logger().info('I heard: "%s"' % msg.data)
self.topic_received = True
self.msg = msg
return
@ -141,9 +143,6 @@ class MinimalServiceProvider(Node):
#self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.service_callback)
self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.srv_callback)
#def service_callback(self, request, response):
def std_srv_callback(self, request, response):
"""
@ -184,12 +183,13 @@ class MinimalServiceClientAsync(Node):
self.NODE_NAME = NODE_NAME
self.SRV_NAME = SRV_NAME
self.SRV_TYPE = SRV_TYPE
# Init above laying class "Node"
# Init above laying class "Node" (super class)
super().__init__(self.NODE_NAME)
print("Starting Service Client:\t%s"%(self.SRV_NAME))
self.srv_client = self.create_client(self.SRV_TYPE, self.SRV_NAME)
while not self.srv_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...')
self.get_logger().info('service not available, waiting...')
self.request = self.SRV_TYPE.Request()
self.done_was_true = False
@ -214,6 +214,7 @@ class MinimalServiceClientAsync(Node):
if self.future.done():
try:
response = self.future.result()
self.done_was_true = True
except Exception as e:
self.get_logger().info('Service call failed %r' % (e,))
else:

28
src/pubsub/pubsub/service_client.py
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@ -5,29 +5,39 @@ from rclpy.node import Node
from custom_interfaces.srv import CustomSrv1
# Service Minimal Host and Client
import pubsub.pubsub_library_v3 as lib
from pubsub.pubsub_library_v3 import MinimalServiceClientAsync
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)
#minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
minimal_client = 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
# Send Service Request to host
print("Service requested...")
minimal_client.done_was_true = False # set service as not done
minimal_client.send_request(srv_request)
while rclpy.ok():
try:
# Loop checks if service is complete
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")
# check if service was already done before this loop
if not minimal_client.done_was_true:
done, response = minimal_client.check_if_service_complete() # returns tuple
if done:
print("Service done !")
print("Service Response:\t%s"%(response.success))
minimal_client.done_was_true = True # set service as done
else:
print("Service not complete")
except (KeyboardInterrupt, SystemExit):
print("\n\nShutting down...")

40
src/pubsub/pubsub/topic_listener.py
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@ -18,55 +18,55 @@ import rclpy
from rclpy.node import Node
# Import Subscriber Library
from .pubsub_library import CustomMsg1_sub
from .pubsub_library import CustomMsg2_sub
from .pubsub_library_v3 import MinimalSubscriber
# Import Message Types
from pubsub_msg.msg import CustomMsg1
from pubsub_msg.msg import CustomMsg2
from custom_interfaces.msg import CustomMsg1
from custom_interfaces.msg import CustomMsg2
def main(args=None):
rclpy.init(args=args)
# Start nodes here, should create object <node_name> for every node
listener_1 = CustomMsg1_sub(NODE_NAME="pubsub_listener_1", TOPIC_NAME="/chatter1",MSG_TYPE=CustomMsg1, NUM_MSGS=0)
listener_2 = CustomMsg2_sub(NODE_NAME="pubsub_listener_2", TOPIC_NAME="/chatter2",MSG_TYPE=CustomMsg2, NUM_MSGS=0)
listener_1 = MinimalSubscriber(NODE_NAME="pubsub_listener_1", TOPIC_NAME="/chatter1",MSG_TYPE=CustomMsg1, NUM_MSGS=0)
listener_2 = MinimalSubscriber(NODE_NAME="pubsub_listener_2", TOPIC_NAME="/chatter2",MSG_TYPE=CustomMsg2, NUM_MSGS=0)
# create empty variables of msg type (optional)
msg_1 = CustomMsg1()
msg_2 = CustomMsg2()
while rclpy.ok():
try:
# Insert main looping script here...
# Receive Topics by running nodes
# Receive msgs by running nodes
rclpy.spin_once(listener_1, timeout_sec=0.01)
rclpy.spin_once(listener_2, timeout_sec=0.01)
# Do sth if message was received
# Check if msg received
if listener_1.topic_received is True:
listener_1.topic_received = False # zurücksetzen
listener_1.topic_received = False # gleich zurücksetzen
msg_1 = listener_1.return_msg()
#*********************************
# Do sth based on received message
print("/chatter1 received")
print(msg_1)
#*********************************
if listener_2.topic_received is True:
listener_2.topic_received = False # zurücksetzen
listener_2.topic_received = False # gleich zurücksetzen
msg_2 = listener_2.return_msg()
#*********************************
# Do sth based on received message
print("/chatter2 received")
print(msg_2)
#*********************************
# Check if "msg_1" or "msg_2" is available as a local variable
if 'msg_1' in locals():
# Print msg_1
listener_1.print_msg()
if 'msg_2' in locals():
# Print msg_2
listener_2.print_msg()
# Here, you can now also publish/pass on the results of this script by
# using the "MinimalPublisher" class. For this please refer to "talker.py".
# using the "MinimalPublisher" class. For this please refer to "talker.py"
except (KeyboardInterrupt, SystemExit):
print("\n\nShutting down...")

4
src/pubsub/pubsub/topic_talker.py
View File

@ -21,8 +21,8 @@ from rclpy.node import Node
from .pubsub_library import MinimalPublisher
# Import Message Types (Message Files)
from pubsub_msg.msg import CustomMsg1
from pubsub_msg.msg import CustomMsg2
from custom_interfaces.msg import CustomMsg1
from custom_interfaces.msg import CustomMsg2
def main(args=None):