Correction topic & services

src/pubsub/pubsub/pubsub_library_v3.py

@@ -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:

src/pubsub/pubsub/service_client.py

@@ -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()
+            # check if service was already done before this loop
-            if done:
+            if not minimal_client.done_was_true:
-                print(response.success)
+                done, response = minimal_client.check_if_service_complete() # returns tuple
-            else:
+                if done:
-                print("Service not complete")
+                    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...")

src/pubsub/pubsub/topic_listener.py

@@ -18,55 +18,55 @@ import rclpy
 from rclpy.node import Node
 
 # Import Subscriber Library
-from .pubsub_library import CustomMsg1_sub
+from .pubsub_library_v3 import MinimalSubscriber
-from .pubsub_library import CustomMsg2_sub
 
 # Import Message Types
-from pubsub_msg.msg import CustomMsg1
+from custom_interfaces.msg import CustomMsg1
-from pubsub_msg.msg import CustomMsg2
+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_1 = MinimalSubscriber(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_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...")

src/pubsub/pubsub/topic_talker.py

@@ -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 custom_interfaces.msg import CustomMsg1
-from pubsub_msg.msg import CustomMsg2
+from custom_interfaces.msg import CustomMsg2
 
 
 def main(args=None):