34 lines
1.0 KiB
Python
Executable File
34 lines
1.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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from cyberdog_marker.srv import PlaceMarker
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class MarkerClient(Node):
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def __init__(self):
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super().__init__('marker_client')
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self.client = self.create_client(PlaceMarker, 'place_marker')
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while not self.client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('服务不可用，等待...')
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self.req = PlaceMarker.Request()
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def send_request(self, x, y, z, color):
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self.req.x = x
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self.req.y = y
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self.req.z = z
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self.req.color = color
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self.future = self.client.call_async(self.req)
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rclpy.spin_until_future_complete(self, self.future)
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return self.future.result()
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def main(args=None):
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rclpy.init(args=args)
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client = MarkerClient()
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response = client.send_request(1.0, 2.0, 0.5, 'red')
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client.get_logger().info(
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f'结果: {response.success}, 消息: {response.message}')
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client.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main() |