Update services examples #317
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Signed-off-by: Alfi Maulana <[email protected]>
Signed-off-by: Alfi Maulana <[email protected]>
Signed-off-by: Alfi Maulana <[email protected]>
Signed-off-by: Alfi Maulana <[email protected]>
Signed-off-by: Alfi Maulana <[email protected]>
threeal
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| @@ -0,0 +1,67 @@ | |||
| // Copyright 2016 Open Source Robotics Foundation, Inc. | |||
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You may want to update the copyright information, at least with the year 2021.
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| // Copyright 2016 Open Source Robotics Foundation, Inc. | |
| // Copyright 2024 Open Source Robotics Foundation, Inc. |
Happy new year 🆕 can be applied to other new files.
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
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To prevent an infinite loop, add return (which is valid in a ctor) to leave the loop, cf. the return 1; in not_composable.cpp. However, note that the spin(node) in the main function must not be called if rclcpp::ok() is already false since this will cause an the given context is not valid error. Probably it is better to move the waiting for the service into a one-shot timer as in the examples_rclcpp_minimal_action_client example.
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i think @threeal tries to keep the current behavior here, i am okay with current behavior for this example so that user does not need to issue service 1st.
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
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See my above comment about leaving the loop by a return.
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| int main(int argc, char * argv[]) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
| auto node = rclcpp::Node::make_shared("minimal_client"); | ||
| auto client = node->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client->wait_for_service(std::chrono::seconds(1))) { | ||
| while (!client->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(node->get_logger(), "client interrupted while waiting for service to appear."); |
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| RCLCPP_ERROR(node->get_logger(), "client interrupted while waiting for service to appear."); | |
| RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "client interrupted while waiting for service to appear."); |
With the node's logger, the publisher for rosout will occasionally raise a publisher's context is invalid exception on this line.
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
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Once the return issue is solved, it is probably also necessary to change the logger to rclcpp::get_logger("rclcpp") as in not_composable.cpp.
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Why? this log is not obviously for rclcpp? so getting logger from this(Node) is fine? (saying current code looks fine.)
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
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Once the return issue is solved, it is probably also necessary to change the logger to rclcpp::get_logger("rclcpp") as in not_composable.cpp.
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@threeal this's been 3 years. still working on this? if you are, could you please rebase this? |
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I'm sorry, i almost forgot i have this PR, i'll try to work on this when i have time. |
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@threeal a couple of comments. thank you for the contribution.
| @@ -0,0 +1,67 @@ | |||
| // Copyright 2016 Open Source Robotics Foundation, Inc. | |||
There was a problem hiding this comment.
| // Copyright 2016 Open Source Robotics Foundation, Inc. | |
| // Copyright 2024 Open Source Robotics Foundation, Inc. |
Happy new year 🆕 can be applied to other new files.
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
There was a problem hiding this comment.
i think @threeal tries to keep the current behavior here, i am okay with current behavior for this example so that user does not need to issue service 1st.
| client_ = this->create_client<AddTwoInts>("add_two_ints"); | ||
| while (!client_->wait_for_service(1s)) { | ||
| if (!rclcpp::ok()) { | ||
| RCLCPP_ERROR(this->get_logger(), "client interrupted while waiting for service to appear."); |
There was a problem hiding this comment.
Why? this log is not obviously for rclcpp? so getting logger from this(Node) is fine? (saying current code looks fine.)
Separate rclcpp's minimal client and minimal service examples each into lambda, member function, and not composable.