Enable BodyROSItem to switch devices via rosservice

choreonoid / choreonoid_ros

ROS package to use Choreonoid as a ROS node

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Enable BodyROSItem to switch devices via rosservice #8

Closed ssr-yuki closed 2 years ago

ssr-yuki commented 2 years ago

This PR provides a function discussed in Discourse.

We can turn on/off sensors via rosservice.
std_srvs::SetBool type is used.
True and False correspond to ON and OFF, respectively.
Initial states of sensors specified in model files are not changed, until BodyROSItem receives a change request.

Each service name is currently set to device_name/switch. This should be discussed.

ssr-yuki commented 2 years ago

Each service name is currently set to device_name/switch. This should be discussed.

@RyodoTanaka Do you have any ideas on the name? All comments are welcome.

RyodoTanaka commented 2 years ago

@ssr-yuki

Do you have any ideas on the name?

I agree with your naming.

In the Body file, on is used. Thus, the name <device_name>/on would be the other selection. But from the point of easy understanding, <device_name>/switch is better, I think.

ssr-yuki commented 2 years ago

I am going to add clearing server procedures, as discussed in #7 . I will modify contents of this PR after # 7 is merged, since conflict resolution is required.

ssr-yuki commented 2 years ago

I have changed the service names because of discussion in Choreonoid Discource. https://discourse.choreonoid.org/t/ros/430/19

s-nakaoka commented 2 years ago

Thank you for your cooperation!