実際のところ
実践例として、xArm の ROS2 humble用パッケージのサービスをコールしてロボットアームを動かしてみます。
$ cd ~/dev_ws/ $ source install/setup.bash
スクリプト
import rclpy from rclpy.node import Node from xarm_msgs.srv import SetInt16, SetInt16ById, MoveCartesian class ServiceClient(Node): def __init__(self): super().__init__('xarm_service_client') # サービスクライアントの定義 self.motion_enable_client = self.create_client(SetInt16ById, '/ufactory/motion_enable') self.set_mode_client = self.create_client(SetInt16, '/ufactory/set_mode') self.set_state_client = self.create_client(SetInt16, '/ufactory/set_state') self.set_position_client = self.create_client(MoveCartesian, '/ufactory/set_position') def send_requests(self): # motion_enableサービスの呼び出し req = SetInt16ById.Request() req.id = 8 req.data = 1 future = self.motion_enable_client.call_async(req) rclpy.spin_until_future_complete(self, future) # set_modeサービスの呼び出し req = SetInt16.Request() req.data = 0 future = self.set_mode_client.call_async(req) rclpy.spin_until_future_complete(self, future) # set_stateサービスの呼び出し req = SetInt16.Request() req.data = 0 future = self.set_state_client.call_async(req) rclpy.spin_until_future_complete(self, future) # set_positionサービスの呼び出し req = MoveCartesian.Request() req.pose = [250.0, 0.0, 250.0, 3.14, 0.0, 0.0] req.speed = 50.0 req.acc = 500.0 req.mvtime = 0.0 future = self.set_position_client.call_async(req) rclpy.spin_until_future_complete(self, future) self.get_logger().info('All services called successfully.') def main(args=None): rclpy.init(args=args) service_client = ServiceClient() service_client.send_requests() service_client.destroy_node() rclpy.shutdown() if __name__ == '__main__': main()
