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splintered-reality / py_trees_ros

ROS extensions and implementations for py_trees
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Implement Behaviors to Interact with ROS Services #215

Open amalnanavati opened 11 months ago

amalnanavati commented 11 months ago

This PR implements service clients as behaviors. Following the paradigm for action clients, it implements two behaviors: FromBlackboard, which reads the request from the blackboard, and FromConstant, which always has the same request. Additionally, it has the option to write the service response to the blackboard, by passing in a blackboard key (key_response) to write to.

This has been tested on a number of test cases (see test_service_client.py). The code has not been through any formatter since I wasn't sure which is used for this repository.

I believe this fulfills Issue #103 .

amalnanavati commented 10 months ago

BTW, this is ready for review :)