Rclpy minimal services

rclpy/services/minimal_client/README.md

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+# Minimal service client cookbook recipes
+
+This package contains a few strategies to create service clients.
+The `client` recipe shows how to request data from a service with a blocking call.
+The `client_async` recipe shows how to request data from a service with a non blocking call. The user has to check if a response has been received in the main loop
+The `client_async_member_function` recipe is analog to `client_async` but sends the request inside a MinimalClient class

rclpy/services/minimal_client/client.py

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+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+import rclpy
+
+from example_interfaces.srv import AddTwoInts
+
+
+def main(args=None):
+    rclpy.init(args)
+    node = rclpy.create_node('minimal_client')
+    cli = node.create_client(AddTwoInts, 'add_two_ints')
+
+    req = AddTwoInts.Request()
+    req.a = 41
+    req.b = 1
+    # wait for connection to be established
+    # (no wait for service in Python yet)
+    time.sleep(1)
+
+    cli.call(req)
+    # 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' % (
+          req.a,
+          req.b,
+          cli.response.sum))
+
+if __name__ == '__main__':
+    main()

rclpy/services/minimal_client/client_async.py

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+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+import rclpy
+
+from example_interfaces.srv import AddTwoInts
+
+
+def main(args=None):
+    rclpy.init(args)
+
+    node = rclpy.create_node('minimal_client_async')
+
+    cli = node.create_client(AddTwoInts, 'add_two_ints')
+
+    req = AddTwoInts.Request()
+    req.a = 41
+    req.b = 1
+    # wait for connection to be established
+    # (no wait for service in Python yet)
+    time.sleep(1)
+    cli.call(req)
+    while rclpy.ok():
+        if cli.response is not None:
+            print('Result of add_two_ints: for %d + %d = %d' % (
+                  req.a,
+                  req.b,
+                  cli.response.sum))
+            break
+        rclpy.spin_once(node)
+
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

rclpy/services/minimal_client/client_async_member_function.py

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+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+
+import rclpy
+
+from example_interfaces.srv import AddTwoInts
+
+
+class MinimalClientAsync:
+    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)
+        time.sleep(1)
+        self.req = AddTwoInts.Request()
+
+    def send_request(self):
+        self.req.a = 41
+        self.req.b = 1
+        self.cli.call(self.req)
+
+
+def main(args=None):
+    rclpy.init(args)
+
+    node = rclpy.create_node('minimal_client_async')
+
+    minimal_client = MinimalClientAsync(node)
+    minimal_client.send_request()
+
+    while rclpy.ok():
+        if minimal_client.cli.response is not None:
+            print('Result of add_two_ints: for %d + %d = %d' % (
+                minimal_client.req.a,
+                minimal_client.req.b,
+                minimal_client.cli.response.sum))
+            break
+        rclpy.spin_once(node)
+
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

rclpy/services/minimal_client/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>examples_rclpy_minimal_client</name>
+  <version>0.0.0</version>
+  <description>Examples of minimal service clients using rclpy.</description>
+
+  <maintainer email="mikael@osrfoundation.org">Mikael Arguedas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <!-- These test dependencies are optional
+  Their purpose is to make sure that the code passes the linters -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_pep8</test_depend>
+  <test_depend>ament_pyflakes</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rclpy/services/minimal_client/setup.py

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+from setuptools import setup
+
+setup(
+    name='examples_rclpy_minimal_client',
+    version='0.0.0',
+    packages=[],
+    py_modules=[
+        'client',
+        'client_async',
+        'client_async_member_function'],
+    install_requires=['setuptools'],
+    author='Mikael Arguedas',
+    author_email='Mikael@osrfoundation.org',
+    maintainer='Mikael Arguedas',
+    maintainer_email='mikael@osrfoundation.org',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Examples of minimal service clients using rclpy.',
+    license='Apache License, Version 2.0',
+    test_suite='test',
+    entry_points={
+        'console_scripts': [
+            'examples_rclpy_minimal_client = client:main',
+            'examples_rclpy_minimal_client_async = client_async:main',
+            'examples_rclpy_minimal_client_async_member_function ='
+            ' client_async_member_function:main',
+        ],
+    },
+)

rclpy/services/minimal_client/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+
+
+def test_copyright():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found errors'

rclpy/services/minimal_client/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+
+
+def test_pep257():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found code style errors / warnings'

rclpy/services/minimal_client/test/test_pep8.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep8.main import main
+
+
+def test_pep8():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found code style errors / warnings'

rclpy/services/minimal_client/test/test_pyflakes.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pyflakes.main import main
+
+
+def test_pyflakes():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found errors'

rclpy/services/minimal_service/README.md

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+# Minimal service server cookbook recipes
+
+This package contains a few strategies to create service servers.
+The `service` recipe shows how to define a service server in an analog way to ROS 1 and rospy
+The `service_member_function` recipe creates a MinimalService class that processes the incoming requests

rclpy/services/minimal_service/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>examples_rclpy_minimal_service</name>
+  <version>0.0.0</version>
+  <description>Examples of minimal service servers using rclpy.</description>
+
+  <maintainer email="mikael@osrfoundation.org">Mikael Arguedas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <!-- These test dependencies are optional
+  Their purpose is to make sure that the code passes the linters -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_pep8</test_depend>
+  <test_depend>ament_pyflakes</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rclpy/services/minimal_service/service.py

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+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+
+from example_interfaces.srv import AddTwoInts
+
+
+def add_two_ints_callback(request, response):
+    response.sum = request.a + request.b
+    print('Incoming request\na: %d b:%d' % (request.a, request.b))
+
+    return response
+
+
+def main(args=None):
+    rclpy.init(args)
+
+    node = rclpy.create_node('add_two_ints_server')
+
+    srv = node.create_service(AddTwoInts, 'add_two_ints', add_two_ints_callback)
+    while rclpy.ok():
+        rclpy.spin_once(node)
+
+    # Destroy the service attached to the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    node.destroy_service(srv)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()