ROS(012: Wrinting a Simple Service and Client(Python))

$ roscd beginner_tutorials

$ cd scripts

$ vi add_two_ints_server.py

add content:

#!/usr/bin/env python

from beginner_tutorials.srv import *
import rospy

def handle_add_two_ints(req):
    print "Returning [%s + %s = %s]"%(req.q + req.b))
    return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():
    respy.init_node('add_two_ints_server')
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
    print "Ready to add two ints."
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()

#!/usr/bin/env python

from beginner_tutorials.srv import *

import rospy

def handle_add_two_ints(req):

print "Returning [%s + %s = %s]"%(req.q + req.b))

return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():

respy.init_node('add_two_ints_server')

s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)

print "Ready to add two ints."

rospy.spin()

if __name__ == "__main__":

add_two_ints_server()

$ chmod +x add_two_ints_server.py

$ vi add_two_ints_client.py

add contents:

#!/usr/bin/env python

import sys
import rospy
from beginner_tutorials.srv import *

def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    try:
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        respl = add_two_ints(x, y)
        return respl.sum
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e

def usage():
    return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":
    if len(sys.argv) == 3:
        x = int(sys.argv[1])
        y = int(sys.argv[2])
    else:
        print usage()
        sys.exit(1)
    print "Requesting %s+%s"%(x, y)
    print "%s + %s = %s"%(x, y, add_two_ints_clent(x, Y))

#!/usr/bin/env python

import sys

import rospy

from beginner_tutorials.srv import *

def add_two_ints_client(x, y):

rospy.wait_for_service('add_two_ints')

try:

add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)

respl = add_two_ints(x, y)

return respl.sum

except rospy.ServiceException, e:

print "Service call failed: %s"%e

def usage():

return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":

if len(sys.argv) == 3:

x = int(sys.argv[1])

y = int(sys.argv[2])

else:

print usage()

sys.exit(1)

print "Requesting %s+%s"%(x, y)

print "%s + %s = %s"%(x, y, add_two_ints_clent(x, Y))

$ chmod +x add_two_ints_client.py

$ cd ~/catkin_ws

$ catkin_make

Post Views: 2,152