rosros.rospify.service Namespace Reference

Stand-ins for `rospy.impl.tcpros_service` in ROS2. More...

Classes
class	Service
	Stand-in for `rospy.Service`, wrapping the creation of ROS2 service. More...
class	ServiceException
	Exception class for service-related errors. More...
class	ServiceProxy
	Stand-in for `rospy.ServiceProxy`, wrapping the creation of ROS2 service client. More...

Functions
	_wait_for_service (service, timeout=None, cls_or_typename=None)
	Blocks until service is available.
	wait_for_service (service, timeout=None)
	Blocks until service is available.

Detailed Description

Stand-ins for `rospy.impl.tcpros_service` in ROS2.

Function Documentation

_wait_for_service()

rosros.rospify.service._wait_for_service (   service,   timeout = None,   cls_or_typename = None  )

protected

Blocks until service is available.

Use this in initialization code if your program depends on a service already running.

Parameters

service	name of service
timeout	time to wait at most, as seconds or ROS duration; None or <0 waits forever
cls_or_typename	service type to expect if any, as ROS service class object like `std_msgs.msg.Bool` or service type name like "std_srvs/SetBool"

Exceptions

ROSException	if specified timeout is exceeded
ROSInterruptException	if shutdown interrupts wait

Definition at line 59 of file service.py.

wait_for_service()

rosros.rospify.service.wait_for_service	(		service,
			timeout = None
	)

Blocks until service is available.

Use this in initialization code if your program depends on a service already running.

Parameters

service	name of service
timeout	timeout time in seconds or Duration, None for no timeout.

Note

timeout=0 is invalid as wait_for_service actually contacts the service, so non-blocking behavior is not possible. For timeout=0 use cases, just call the service without waiting.

Exceptions

ROSException	if specified timeout is exceeded
ROSInterruptException	if shutdown interrupts wait

Definition at line 37 of file service.py.