/get_point

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SERVICE - /get_point

Provided by:

• points_manager.py

Used by:

• reach_random_pos_service.py
• bug0.py

Semantic

The service returns a planar point (x, y) randomly choosen within a set of pre-defined targets.

Service code

SRV file

# servicefile name 'get_point.srv'
 
#...empty...
 
---
 
# the point, randomly choosen
geometry_msgs/Point position

Set-up (Python)

from final_assignment.srv import get_point, get_pointRequest, get_pointResponse
 
## name of the service 'get_point'
name_get_point = "/get_point"
 
## === CLIENT SIDE ===
 
## call-point of the service 'get_point'
srv_get_point = None
 
# service 'get_point'
rospy.loginfo( " [%s] getting service %s ...", node_name, name_get_point )
rospy.wait_for_service( name_get_point )
srv_get_point = rospy.ServiceProxy( name_get_point, get_point )
rospy.loginfo( " [%s] service %s ... OK", node_name, name_get_point )

How to use the service (Python)

Empty request; non-blocking; it cannot fail.

global name_get_point, srv_get_point
 
res = srv_get_point( )
# res.position