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carter
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//! Purpose of this example is to show how the ServiceProvider trait can be use | ||
//! to create code that is generic of which communication backend it will use. | ||
#[cfg(feature = "topic_provider")] | ||
#[tokio::main] | ||
async fn main() { | ||
simple_logger::SimpleLogger::new() | ||
.with_level(log::LevelFilter::Debug) | ||
.without_timestamps() // required for running wsl2 | ||
.init() | ||
.unwrap(); | ||
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use roslibrust::topic_provider::*; | ||
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roslibrust_codegen_macro::find_and_generate_ros_messages!( | ||
"assets/ros1_common_interfaces/ros_comm_msgs/std_srvs" | ||
); | ||
// TopicProvider cannot be an "Object Safe Trait" due to its generic parameters | ||
// This means we can't do: | ||
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// Which specific TopicProvider you are going to use must be known at | ||
// compile time! We can use features to build multiple copies of our | ||
// executable with different backends. Or mix and match within a | ||
// single application. The critical part is to make TopicProvider a | ||
// generic type on you Node. | ||
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struct MyNode<T: ServiceProvider + 'static> { | ||
ros: T, | ||
} | ||
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// Basic example of a node that publishes and subscribes to itself | ||
impl<T: ServiceProvider> MyNode<T> { | ||
fn handle_service( | ||
_request: std_srvs::SetBoolRequest, | ||
) -> Result<std_srvs::SetBoolResponse, Box<dyn std::error::Error + Send + Sync>> { | ||
// Not actually doing anything here just example | ||
// Note: if we did want to set a bool, we'd probably want to use Arc<Mutex<bool>> | ||
Ok(std_srvs::SetBoolResponse { | ||
success: true, | ||
message: "You set my bool!".to_string(), | ||
}) | ||
} | ||
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async fn run(self) { | ||
let _handle = self | ||
.ros | ||
.advertise_service::<std_srvs::SetBool, _>("/my_set_bool", Self::handle_service) | ||
.await | ||
.unwrap(); | ||
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let client = self | ||
.ros | ||
.service_client::<std_srvs::SetBool>("/my_set_bool") | ||
.await | ||
.unwrap(); | ||
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loop { | ||
tokio::time::sleep(std::time::Duration::from_millis(500)).await; | ||
println!("sleeping"); | ||
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client | ||
.call(&std_srvs::SetBoolRequest { data: true }) | ||
.await | ||
.unwrap(); | ||
} | ||
} | ||
} | ||
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// create a rosbridge handle and start node | ||
let ros = roslibrust::ClientHandle::new("ws://localhost:9090") | ||
.await | ||
.unwrap(); | ||
let node = MyNode { ros }; | ||
tokio::spawn(async move { node.run().await }); | ||
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// create a ros1 handle and start node | ||
let ros = roslibrust::ros1::NodeHandle::new("http://localhost:11311", "/my_node") | ||
.await | ||
.unwrap(); | ||
let node = MyNode { ros }; | ||
tokio::spawn(async move { node.run().await }); | ||
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loop { | ||
tokio::time::sleep(std::time::Duration::from_millis(500)).await; | ||
println!("sleeping"); | ||
} | ||
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// With this executable running | ||
// RUST_LOG=debug cargo run --features ros1,topic_provider --example generic_client_services | ||
// You should see log output from both nodes | ||
} | ||
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#[cfg(not(feature = "topic_provider"))] | ||
fn main() {} |
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