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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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How to call service from Python using ros2? #189

Closed Kaju-Bubanja closed 1 year ago

Kaju-Bubanja commented 1 year ago

Looking at this guide it looks like we need to import from from sick_scan.srv._cola_msg_srv import ColaMsgSrv_Request but the underscore indicates that this method shouldn't be used and is private, also the ColaMsgSrv_Request looks auto generated and not meant for programmatic use. Which brings me to my question, how would I call the /ColaMsg service from python instead of the cli?

Kaju-Bubanja commented 1 year ago

While the _ indicates that these methods should not be used, here is an example how I got it working:

from sick_scan.srv._cola_msg_srv import ColaMsgSrv, ColaMsgSrv_Request
...
service_client = my_ros_node.create_client(ColaMsgSrv, "/ColaMsg")
future = service_client.call_async(ColaMsgSrv_Request(request='sRN DeviceIdent'))
rclpy.spin_until_future_complete(my_ros_node, future)
result = future.result()
print(result)