Python srv.Empty方法代码示例

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def __init__(self):
        # ROS initialization:
        rospy.init_node('pose_manager')

        self.poseLibrary = dict()
        self.readInPoses()
        self.poseServer = actionlib.SimpleActionServer("body_pose", BodyPoseAction,
                                                       execute_cb=self.executeBodyPose,
                                                       auto_start=False)
        self.trajectoryClient = actionlib.SimpleActionClient("joint_trajectory", JointTrajectoryAction)
        if self.trajectoryClient.wait_for_server(rospy.Duration(3.0)):
            try:
                rospy.wait_for_service("stop_walk_srv", timeout=2.0)
                self.stopWalkSrv = rospy.ServiceProxy("stop_walk_srv", Empty)
            except:
                rospy.logwarn("stop_walk_srv not available, pose_manager will not stop the walker before executing a trajectory. "
                          +"This is normal if there is no nao_walker running.")
            self.stopWalkSrv = None
            self.poseServer.start()

            rospy.loginfo("pose_manager running, offering poses: %s", self.poseLibrary.keys());

        else:
            rospy.logfatal("Could not connect to required \"joint_trajectory\" action server, is the nao_controller node running?");
            rospy.signal_shutdown("Required component missing"); 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def stop(self):
        """Stop the sensor.
        """
        # Check that everything is running
        if not self._running:
            logging.warning('PhoXi not running. Aborting stop')
            return False

        # Stop the subscribers
        self._color_im_sub.unregister()
        self._depth_im_sub.unregister()
        self._normal_map_sub.unregister()

        # Disconnect from the camera
        rospy.ServiceProxy('phoxi_camera/disconnect_camera', Empty)()

        self._running = False

        return True 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def on_button_reset_pressed(self):
    self._num_pattern_detections = 0
    self._calibration_output = ""
    self._update_required = True

    self.button_start.setEnabled( False )

    try:
      rospy.wait_for_service('dvs_calibration/reset', 1)
      try:
        reset_service = rospy.ServiceProxy('dvs_calibration/reset', Empty)
        resp = reset_service()
      except rospy.ServiceException, e:
        print "Service call failed: %s"%e
    except:
      print "service not available..."
      pass 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def service_server():
    rospy.init_node('service_server')
    s = rospy.Service('call_me', Empty, handle_service)
    print "Ready to serve."
    rospy.spin() 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def execute(self, inputs, outputs, gvm):
    service = "/clear"
    rospy.wait_for_service(service)
    clear_turtle_area_service = rospy.ServiceProxy(service, Empty)
    resp1 = clear_turtle_area_service()
    self.logger.info("ROS external module: executed the {} service".format(service))
    return 0 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def GetDetectObjectsService(srv='/costar_perception/segmenter'):
    '''
    Get a service that will update object positions

    Parameters:
    ----------
    srv: service, defaults to the correct name for costar
    '''
    return GetService(srv, EmptySrv) 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def GetCloseGripperService():
    return GetService("/costar/gripper/close", EmptySrv) 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def GetOpenGripperService():
    return GetService("/costar/gripper/open", EmptySrv) 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def __init__(self):
        self.index = 0
        self.gazeboModels = None
        self.img_np = None
        self.pose = Odometry()
        self.action = Twist()

        rospy.Subscriber(overheadImageTopic, Image, self.imageCallback)
        rospy.Subscriber(huskyCmdVelTopic, Twist, self.cmdVelCallback)

        self.listener = tf.TransformListener()
        self.writer = NpzDataset('husky_data')

        self.trans = None
        self.rot = None
        self.roll, self.pitch, self.yaw = 0., 0., 0.

        self.trans_threshold = 0.25

        rospy.wait_for_service("/gazebo/pause_physics")
        self.pause = rospy.ServiceProxy("/gazebo/pause_physics", EmptySrv)
        self.unpause = rospy.ServiceProxy("/gazebo/unpause_physics", EmptySrv)
        self.set_model_state = rospy.ServiceProxy("/gazebo/set_model_state",
                SetModelState)
        self.set_link_state = rospy.ServiceProxy("/gazebo/set_link_state",
                SetLinkState)
        self.get_link_state = rospy.ServiceProxy("/gazebo/get_link_state",
                GetLinkState)
        self.pose = None 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def call_service():
    rospy.loginfo('waiting service')
    rospy.wait_for_service('call_me')

    try:
        service = rospy.ServiceProxy('call_me', Empty)
        response = service()
    except rospy.ServiceException, e:
        print "Service call failed: %s" % e 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def __init__(self, rate=20.0, id_mask='F1804'):
        """Initialize the weight publisher.

        Parameters
        ----------
        id_mask : str
            A template for the first n digits of the device IDs for valid load cells.
        """
        self._rate = rospy.Rate(rate)
        self._pub = rospy.Publisher('~weights', Float32MultiArray, queue_size=10)

        rospy.loginfo('Connecting serial')

        self._serials = self._connect(id_mask)
        if len(self._serials) == 0:
            raise ValueError('Error -- No loadstar weight sensors connected to machine!')

        # Tare the sensor
        rospy.loginfo('Tareing')
        self._tare()

        # Flush the sensor's communications
        self._flush()

        # Set up Tare service
        self._tare_service = rospy.Service('~tare', Empty, self._handle_tare)

        # Main loop -- read and publish
        while not rospy.is_shutdown():
            weights = self._read_weights()
            self._pub.publish(Float32MultiArray(data=weights))
            self._rate.sleep() 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def frames(self):
        """Retrieve a new frame from the PhoXi and convert it to a ColorImage,
        a DepthImage, and an IrImage.

        Returns
        -------
        :obj:`tuple` of :obj:`ColorImage`, :obj:`DepthImage`, :obj:`IrImage`, :obj:`numpy.ndarray`
            The ColorImage, DepthImage, and IrImage of the current frame.
        """
        # Run a software trigger
        times = []

        rospy.ServiceProxy('phoxi_camera/start_acquisition', Empty)()
        rospy.ServiceProxy('phoxi_camera/trigger_image', TriggerImage)()

        self._cur_color_im = None
        self._cur_depth_im = None
        self._cur_normal_map = None

        rospy.ServiceProxy('phoxi_camera/get_frame', GetFrame)(-1)

        max_time = 5.0
        time_waiting = 0.0
        while self._cur_color_im is None or self._cur_depth_im is None or self._cur_normal_map is None:
            time.sleep(0.05)
            time_waiting += 0.05
            if time_waiting > max_time:
                raise SensorUnresponsiveException('PhoXi sensor seems to be non-responsive')
        return self._cur_color_im, self._cur_depth_im, None 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def tare(self):
        """Zero out (tare) the sensor.
        """
        if not self._running:
            raise ValueError('Weight sensor is not running!')
        rospy.ServiceProxy('weight_sensor/tare', Empty)() 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def on_button_start_calibration_pressed(self):
    self.button_start.setEnabled( False )

    try:
      rospy.wait_for_service('dvs_calibration/start', 1)
      try:
        start_calibration_service = rospy.ServiceProxy('dvs_calibration/start', Empty)
        resp = start_calibration_service()
      except rospy.ServiceException, e:
        print "Service call failed: %s"%e
    except:
      print "service not available..."
      pass 

# 需要导入模块: from std_srvs import srv [as 别名]
# 或者: from std_srvs.srv import Empty [as 别名]
def on_button_save_calibration_pressed(self):
    try:
      rospy.wait_for_service('dvs_calibration/save', 1)
      try:
        save_calibration_service = rospy.ServiceProxy('dvs_calibration/save', Empty)
        resp = save_calibration_service()
      except rospy.ServiceException, e:
        print "Service call failed: %s"%e
    except:
      print "service not available..."
      pass