#!/usr/bin/env python
# -*- coding: utf-8 -*-
import time, thread
import rospy
from geometry_msgs.msg import twist
from std_srvs.srv import trigger, triggerresponse
pubcommand =
false
tpub = rospy.publisher(
'/turtle1/cmd_vel'
, twist, queue_size=10)
defcommand_thread()
:while
true
:if pubcommand:
v = twist(
) v.linear.x =
0.5 v.angular.z =
0.5 tpub.publish(v)
time.sleep(
0.1)
defcallback
(req)
:global pubcommand
pubcommand =
bool(1
- pubcommand)
rospy.loginfo(
"call the callback! %s"
, pubcommand)
return triggerresponse(1,
"change!"
)def
******service()
: rospy.init_node(
'sxcservice'
) s = rospy.service(
'/turtle_command'
, trigger, callback)
print
'wait!!'
thread.start_new_thread(command_thread,()
) rospy.spin(
)if __name__ ==
'__main__'
: ******service(
)
#!/usr/bin/env python
# coding=utf-8
import rospy
from turtlesim.srv import spawn
defturtle_spawn()
:# ros節點初始化，生成節點addturtle
rospy.init_node(
'addturtle'
)# 等待'/spawn'服務，若無一直等待
rospy.wait_for_service(
'/spawn'
)try
:# 建立乙個連線名為'/spawn'的服務，資料型別為spawn
add_turtle = rospy.serviceproxy(
'/spawn'
, spawn)
# 呼叫請求服務，輸入請求引數，並得到服務端返回結果
response = add_turtle(2,
2,0,
'sxc'
)return response.name
except rospy.serviceexception, e:
print e
if __name__ ==
'__main__'
: rospy.loginfo(
"creat turtle,name: %s"
,(turtle_spawn())
)
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