motoman_driver - simple_message not available

[tall1]

I'm trying to use the services provided in motoman_driver from reading/writing IO.

Calling the service is easy and works.

I want to call the services write_single_io and read_single_io from a python script, but the simple_message module is not available in motoman_msgs. This is critical according to: Writing a service client in Python.

How can I call the services I mentioned from a python script?
I checked the CMakeLists.txt and the package.xml in motoman_driver and it includes the simple_message module.

[gavanderhoorn]

Could you please clarify what you're trying to do?

simple_message is not used at all in motoman_msgs, so I'm not sure how it could be missing.

[tall1]

Could you please clarify what you're trying to do?

Yes. I want to write a python script that writes/reads to/from the controller's IO (I'm with a YRC1000micro).
I saw that there are several services which give this functionality in motoman_driver such as: write_single_io, read_single_io.

I want to activate these services through a python script. In order to do that, I need to use the following command:

write_single_io = rospy.ServiceProxy('write_single_io', <not sure what to enter here>)
res = write_single_io(<address>, <message>)

As shown here: Writing a service client in Python

Where I wrote the note sure what to enter - I don't know what type of message this service accepts. In the rosservice info it says motoman_msgs/WriteSingleIO but this message is not available in the rosmsg list.

$ rosservice info /write_single_io 
Node: /io_relay
URI: rosrpc://hvmr-Latitude-5430:46929
Type: motoman_msgs/WriteSingleIO
Args: address value

[gavanderhoorn]

I don't know what type of message this service accepts

as the output of your rosservice info call shows: WriteSingleIO. Easiest would be to:

from motoman_msgs.srv import *

as they do in the tutorial you link (easiest, not necessarily nicest).

As to calling the service: you'd supply address and value. I'm not sure what <message> would be (see also the srv definition).

but this message is not available in the rosmsg list.

that would not be as it should be.

Just to get it out of the way: you did source the setup.bash of your workspace, and motoman_msgs has been built?

[tall1]

from motoman_msgs.srv import *

This works. Thanks.

I'll paste the code where I'm using it just in case anyone looks for an example:

rospy.wait_for_service('/write_single_io')
try:
    write_single_io_service = rospy.ServiceProxy('/write_single_io', WriteSingleIO)
    response = write_single_io_service(27011, 1) # Write 1 to 27011
    time.sleep(6)
    response = write_single_io_service(27011, 0) # Write 0 to 27011
except rospy.ServiceException as e:
    rospy.logwarn("Failed.")