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Use wait_for_service #185

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Merged
merged 4 commits into from
Nov 30, 2017
Merged

Use wait_for_service #185

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490987d
Use wait_for_service
sloretz Oct 10, 2017
f042111
Print periodic 'Still waiting for service'
sloretz Oct 13, 2017
d2a6a00
Use same print statement as in c++ test code
sloretz Oct 17, 2017
8ee5ca3
Single quotes
sloretz Oct 17, 2017
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8 changes: 2 additions & 6 deletions rclpy/services/minimal_client/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import time

from example_interfaces.srv import AddTwoInts

import rclpy
Expand All @@ -27,10 +25,8 @@ def main(args=None):
req = AddTwoInts.Request()
req.a = 41
req.b = 1
# TODO(mikaelarguedas) remove this once wait for service implemented
# wait for connection to be established
# (no wait for service in Python yet)
time.sleep(1)
while not cli.wait_for_service(timeout_sec=1.0):
print('service not available, waiting again...')

cli.call(req)
# when calling wait for future
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9 changes: 3 additions & 6 deletions rclpy/services/minimal_client/client_async.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import time

from example_interfaces.srv import AddTwoInts

import rclpy
Expand All @@ -29,10 +27,9 @@ def main(args=None):
req = AddTwoInts.Request()
req.a = 41
req.b = 1
# TODO(mikaelarguedas) remove this once wait for service implemented
# wait for connection to be established
# (no wait for service in Python yet)
time.sleep(1)
while not cli.wait_for_service(timeout_sec=1.0):
print('service not available, waiting again...')

cli.call(req)
while rclpy.ok():
# TODO(mikaelarguedas) This is not the final API, and this does not scale
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8 changes: 2 additions & 6 deletions rclpy/services/minimal_client/client_async_member_function.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import time

from example_interfaces.srv import AddTwoInts

import rclpy
Expand All @@ -25,10 +23,8 @@ class MinimalClientAsync(Node):
def __init__(self):
super().__init__('minimal_client_async')
self.cli = self.create_client(AddTwoInts, 'add_two_ints')
# TODO(mikaelarguedas) remove this once wait for service implemented
# wait for connection to be established
# (no wait for service in Python yet)
time.sleep(1)
while not self.cli.wait_for_service(timeout_sec=1.0):
print('service not available, waiting again...')
self.req = AddTwoInts.Request()

def send_request(self):
Expand Down