50 lines
1.6 KiB
Python
50 lines
1.6 KiB
Python
import rclpy
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from rclpy.node import Node
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# Service Type Files
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from custom_interfaces.srv import CustomSrv1
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# Service Minimal Host and Client
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from pubsub.pubsub_library_v4 import MinimalServiceClientAsync
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def main(args=None):
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rclpy.init(args=args)
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# Create Service Client
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#minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
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minimal_client = MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
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# Create Service Request
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srv_request = CustomSrv1.Request()
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srv_request.command = "Hallo"
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# Send Service Request to host
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print("Service requested...")
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minimal_client.done_was_true = False # set service as not done
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minimal_client.send_request(srv_request)
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while rclpy.ok():
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try:
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# Loop checks if service is complete
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rclpy.spin_once(minimal_client, timeout_sec=0.1)
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# check if service was already done before this loop
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if not minimal_client.done_was_true:
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done, response = minimal_client.check_if_service_complete() # returns tuple
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if done:
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print("Service done !")
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print("Service Response:\t%s"%(response.success))
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minimal_client.done_was_true = True # set service as done
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else:
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print("Service not complete")
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except (KeyboardInterrupt, SystemExit):
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print("\n\nShutting down...")
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minimal_client.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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