enable_modules`¶

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/module_manager_node/enable_modules Quick Facts

Category: 🛠 Robot management
Message type: pal_module_srvs/srv/EnableModules

Enables a lisr of modules. The modules will be started when the module manager is started.

See The startup process of the robot and application management.

Quick snippets¶

Call the service from command-line¶

$ ros2 service call /module_manager_node/enable_modules pal_module_srvs/srv/EnableModules
# (tip: press Tab to complete the message prototype)

How to use in your code¶

Example of a complete ROS2 node asynchronously calling the service¶

#!/usr/bin/env python

import sys
import rclpy
from rclpy.node import Node

from pal_module_srvs.srv import EnableModules

class EnableModulesClientAsync(Node):

    def __init__(self):
        super().__init__('module_manager_node_enable_modules_client_async')
        self.cli = self.create_client(EnableModules, 'module_manager_node_enable_modules')
        while not self.cli.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('service not available, waiting again...')
        self.req = EnableModules.Request()

    def send_request(self, a, b):
        # TODO: adapt to the service's parameters
        # 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()


if __name__ == '__main__':
    rclpy.init(args=args)

    srv_client = EnableModulesClientAsync()

    # TODO: adapt to your parameters
    response = srv_client.send_request(sys.argv[1], sys.argv[2])
    srv_client.get_logger().info(
        'Result of module_manager_node_enable_modules: %s' % response)

    rclpy.shutdown()

Example of a complete ROS2 node asynchronously calling the service¶

#include "rclcpp/rclcpp.hpp"
#include "pal_module_srvs/srv/enable_modules.hpp"

#include <chrono>
#include <cstdlib>
#include <memory>

using namespace std::chrono_literals;
using namespace std;
using namespace rclcpp;

int main(int argc, char **argv)
{
    init(argc, argv);

    shared_ptr<Node> node = Node::make_shared("module_manager_node/enable_modules_client");
    Client<pal_module_srvs::srv::EnableModules>::SharedPtr client =
        node->create_client<pal_module_srvs::srv::EnableModules>("module_manager_node/enable_modules");

    auto request = make_shared<pal_module_srvs::srv::EnableModules::Request>();

    // TODO: adapt to the service's parameters
    // request->a = ...;
    // request->b = ...;

    while (!client->wait_for_service(1s)) {
    if (!ok()) {
        RCLCPP_ERROR(get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
        return 0;
    }
    RCLCPP_INFO(get_logger("rclcpp"), "service not available, waiting again...");
    }

    auto result = client->async_send_request(request);
    // Wait for the result.
    if (spin_until_future_complete(node, result) == FutureReturnCode::SUCCESS)
    {
    // TODO: do something with the result
    // result.get()->...;
    } else {
    RCLCPP_ERROR(get_logger("rclcpp"), "Failed to call service module_manager_node/enable_modules");
    }

    shutdown();
    return 0;
}

/module_manager_node/enable_modules¶

Quick snippets¶

How to use in your code¶

`/module_manager_node/enable_modules`¶