Rclpy minimal services #140
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This PR adds service examples with a similar behavior as the cpp examples added in #138 |
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| def test_copyright(): | ||
| rc = main(argv=['.', 'test']) |
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Why does this need to be . and test? Isn't test a subfolder of the package root .?
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updated in 4eddd82 see #139 (comment)
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1sec wait before sending match cpp prints
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| req.a = 41 | ||
| req.b = 1 | ||
| # wait for connection to be established | ||
| # (no wait for service in Python yet) |
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I would recommend a TODO here then, so we remember to replace this with wait for service later. Or if there is a ticket to add wait for service in Python, you could link to this line of this file (at a specific commit) as a place to update after it is added. You might want to do both.
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done, ticketed here
| req.a = 41 | ||
| req.b = 1 | ||
| # wait for connection to be established | ||
| # (no wait for service in Python yet) |
| def __init__(self, node): | ||
| self.cli = node.create_client(AddTwoInts, 'add_two_ints') | ||
| # wait for connection to be established | ||
| # (no wait for service in Python yet) |
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| def add_two_ints_callback(request, response): | ||
| response.sum = request.a + request.b | ||
| print('Incoming request\na: %d b:%d' % (request.a, request.b)) |
| # when calling wait for future | ||
| # spin should not be called in the main loop | ||
| cli.wait_for_future() | ||
| print('Result of add_two_ints: for %d + %d = %d' % ( |
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Nitpick: wrap directly after parenthesis, e.g.:
print(
'Result of add_two_ints: for %d + %d = %d' %
(req.a, req.b, cli.response.sum))
Same below.
| time.sleep(1) | ||
| cli.call(req) | ||
| while rclpy.ok(): | ||
| if cli.response is not None: |
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Since this is not final API I would suggest to put a big todo above this line (and similar lines below).
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What do you think about this TODO message? 5306074
* add add_two_ints examples * rename targets * add READMEs * comment about node destruction * match rclcpp minimal service examples * update description strings * remove local_function script because doesn't add any value * add class examples * move comment to proper location * Null response in rclpy client code 1sec wait before sending match cpp prints * add TODO for wait for service * add TODO for accessing response
Simple service examples