Havoc
f77cada464
- 在 Robot_Ctrl 类中初始化 MarkerRunner，并在运行时调用其方法 - 在移动到横向线的函数中添加标记放置功能，分别在起点和终点放置绿色和红色标记 - 增强错误处理，确保 MarkerRunner 正确销毁
55 lines
1.6 KiB
Python
Executable File
55 lines
1.6 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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class MarkerRunner:
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def __init__(self):
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self.marker_client = None
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def run(self):
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rclpy.init()
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self.marker_client = MarkerClient()
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def destroy(self):
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self.marker_client.destroy_node()
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rclpy.shutdown()
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def send_request(self, x, y, z, color, observe=False):
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response = self.marker_client.send_request(x, y, z, color)
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if observe:
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self.marker_client.get_logger().info(
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f'结果: {response.success}, 消息: {response.message}')
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return response
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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, 1.0, 0.0, 'blue')
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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() |