Skip to content

ros2 api #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
torydebra wants to merge 2 commits into
base: proto_ros2
Choose a base branch
from
Open

ros2 api #8

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3b1fa84
ros2 api
torydebra Nov 18, 2024
6f3f69e
more verbose print exceptions
torydebra Nov 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 6 additions & 3 deletions server/src/xbot2_gui_server/dashboard.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,8 @@
from aiohttp import web
import json

import rospy
import rclpy
from rclpy.node import Node
from std_srvs.srv import SetBool, Trigger
from std_msgs.msg import String
from geometry_msgs.msg import TwistStamped, Twist
Expand Down Expand Up @@ -54,7 +55,8 @@ def __init__(self, srv: ServerBase, config=dict()) -> None:
'dashboard_start')

# subscribe to stats
self.stats_sub = rospy.Subscriber('xbotcore/statistics', Statistics2, self.on_stats_recv)
self.node = rclpy.create_node('dashboard')
self.stats_sub = self.node.create_subscription(Statistics2, 'xbotcore/statistics', self.on_stats_recv, 10)
self.stats: Statistics2 = None

# launcher
Expand Down Expand Up @@ -210,7 +212,8 @@ async def dashboard_start(self, request: web.Request):


async def plugin_switch(self, plugin_name, switch_flag):
switch = rospy.ServiceProxy(f'xbotcore/{plugin_name}/switch', service_class=SetBool)
self.cli = self.create_client(AddTwoInts, 'add_two_ints')
switch = self.node.create_client(SetBool, f'xbotcore/{plugin_name}/switch')
await utils.to_thread(switch.wait_for_service, timeout=1.0)
res = await utils.to_thread(switch, switch_flag)
return res.success
Expand Down
12 changes: 6 additions & 6 deletions server/src/xbot2_gui_server/main.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ async def load_extensions():
except ModuleNotFoundError:
pass
except BaseException as e:
print('Exception ', type(e), e)
print('Launcher Exception ', type(e), e)

# cartesian
try:
Expand All @@ -113,7 +113,7 @@ async def load_extensions():
except ModuleNotFoundError:
pass
except BaseException as e:
print('Exception ', type(e), e)
print('SpeechHandler Exception ', type(e), e)


# visual
Expand All @@ -123,7 +123,7 @@ async def load_extensions():
extensions.append(ext)
print(ext)
except BaseException as e:
print('Exception ', type(e), e)
print('VisualHandler Exception ', type(e), e)

# concert
if 'concert' in cfg.keys():
Expand All @@ -133,7 +133,7 @@ async def load_extensions():
extensions.append(ext)
print(ext)
except BaseException as e:
print('Exception ', type(e), e)
print('ConcertHandler Exception ', type(e), e)

# ecat
if 'ecat' in cfg.keys():
Expand All @@ -154,15 +154,15 @@ async def load_extensions():
extensions.append(ext)
print(ext)
except BaseException as e:
print('Exception ', type(e), e)
print('DashboardHandler Exception ', type(e), e)

try:
from .parameters import ParameterHandler
ext = ParameterHandler(srv, cfg.get('parameters', {}))
extensions.append(ext)
print(ext)
except BaseException as e:
print('Exception ', type(e), e)
print('ParameterHandler Exception ', type(e), e)

srv.extensions = extensions

Expand Down