ros2-nodes-topics-services
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# my_robot_package/my_robot_package/simple_node.py
import rclpy
from rclpy.node import Node
class SimpleNode(Node):
def __init__(self):
super().__init__('simple_node')
self.get_logger().info('Simple Node Created')
def main(args=None):
rclpy.init(args=args)
node = SimpleNode()
try:
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
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# Make sure your workspace is sourced
source install/setup.bash
# Run the node
ros2 run my_robot_package simple_node
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# my_robot_package/my_robot_package/talker.py
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
class Talker(Node):
def __init__(self):
super().__init__('talker')
self.publisher = self.create_publisher(String, 'chatter', 10)
timer_period = 0.5 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
def timer_callback(self):
msg = String()
msg.data = f'Hello World: {self.i}'
self.publisher.publish(msg)
self.get_logger().info(f'Publishing: "{msg.data}"')
self.i += 1
def main(args=None):
rclpy.init(args=args)
talker = Talker()
try:
rclpy.spin(talker)
except KeyboardInterrupt:
pass
finally:
talker.destroy_node()
rclpy.shutdown()
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# my_robot_package/my_robot_package/listener.py
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
class Listener(Node):
def __init__(self):
super().__init__('listener')
self.subscription = self.create_subscription(
String,
'chatter',
self.listener_callback,
10)
self.subscription # prevent unused variable warning
def listener_callback(self, msg):
self.get_logger().info(f'I heard: "{msg.data}"')
def main(args=None):
rclpy.init(args=args)
listener = Listener()
try:
rclpy.spin(listener)
except KeyboardInterrupt:
pass
finally:
listener.destroy_node()
rclpy.shutdown()
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# Create service definition file: srv/AddTwoInts.srv
int64 a
int64 b
---
int64 sum
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# my_robot_package/my_robot_package/add_two_ints_server.py
from my_robot_package.srv import AddTwoInts
import rclpy
from rclpy.node import Node
class AddTwoIntsServer(Node):
def __init__(self):
super().__init__('add_two_ints_server')
self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
def add_two_ints_callback(self, request, response):
response.sum = request.a + request.b
self.get_logger().info(f'Returning: [{response.sum}]')
return response
def main(args=None):
rclpy.init(args=args)
add_two_ints_server = AddTwoIntsServer()
try:
rclpy.spin(add_two_ints_server)
except KeyboardInterrupt:
pass
finally:
add_two_ints_server.destroy_node()
rclpy.shutdown()
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# my_robot_package/my_robot_package/add_two_ints_client.py
from my_robot_package.srv import AddTwoInts
import rclpy
from rclpy.node import Node
class AddTwoIntsClient(Node):
def __init__(self):
super().__init__('add_two_ints_client')
self.cli = self.create_client(AddTwoInts, 'add_two_ints')
while not self.cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('Service not available, waiting again...')
self.req = AddTwoInts.Request()
def send_request(self, a, b):
self.req.a = a
self.req.b = b
self.future = self.cli.call_async(self.req)
rclpy.spin_until_future_complete(self, self.future)
return self.future.result()
def main(args=None):
rclpy.init(args=args)
add_two_ints_client = AddTwoIntsClient()
response = add_two_ints_client.send_request(1, 2)
add_two_ints_client.get_logger().info(f'Result of add_two_ints: {response.sum}')
add_two_ints_client.destroy_node()
rclpy.shutdown()
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# List all topics
ros2 topic list
# Echo messages from a topic
ros2 topic echo /chatter std_msgs/msg/String
# Publish a message to a topic
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hello World'"
# Get info about a topic
ros2 topic info /chatter
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# List all services
ros2 service list
# Call a service
ros2 service call /add_two_ints my_robot_package/srv/AddTwoInts "{a: 1, b: 2}"
# Get info about a service
ros2 service info /add_two_ints
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