/slam_toolbox/toggle_interactive_mode¶
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/slam_toolbox/toggle_interactive_mode Quick Facts
- Category
- Message type
Toggles in and out of interactive mode, publishing interactive markers of the nodes and their positions to be updated in an application.
Quick snippets¶
Call the service from command-line¶
$ ros2 service call /slam_toolbox/toggle_interactive_mode slam_toolbox/srv/ToggleInteractive
# (tip: press Tab to complete the message prototype)
How to use in your code¶
Example of a complete ROS2 node asynchronously calling the service¶
1#!/usr/bin/env python
2
3import sys
4import rclpy
5from rclpy.node import Node
6
7from slam_toolbox.srv import ToggleInteractive
8
9class ToggleInteractiveModeClientAsync(Node):
10
11 def __init__(self):
12 super().__init__('slam_toolbox_toggle_interactive_mode_client_async')
13 self.cli = self.create_client(ToggleInteractive, 'slam_toolbox_toggle_interactive_mode')
14 while not self.cli.wait_for_service(timeout_sec=1.0):
15 self.get_logger().info('service not available, waiting again...')
16 self.req = ToggleInteractive.Request()
17
18 def send_request(self, a, b):
19 # TODO: adapt to the service's parameters
20 # self.req.a = a
21 # self.req.b = b
22 self.future = self.cli.call_async(self.req)
23 rclpy.spin_until_future_complete(self, self.future)
24 return self.future.result()
25
26
27if __name__ == '__main__':
28 rclpy.init(args=args)
29
30 srv_client = ToggleInteractiveModeClientAsync()
31
32 # TODO: adapt to your parameters
33 response = srv_client.send_request(sys.argv[1], sys.argv[2])
34 srv_client.get_logger().info(
35 'Result of slam_toolbox_toggle_interactive_mode: %s' % response)
36
37 rclpy.shutdown()
Example of a complete ROS2 node asynchronously calling the service¶
1#include "rclcpp/rclcpp.hpp"
2#include "slam_toolbox/srv/toggle_interactive.hpp"
3
4#include <chrono>
5#include <cstdlib>
6#include <memory>
7
8using namespace std::chrono_literals;
9using namespace std;
10using namespace rclcpp;
11
12int main(int argc, char **argv)
13{
14 init(argc, argv);
15
16 shared_ptr<Node> node = Node::make_shared("slam_toolbox/toggle_interactive_mode_client");
17 Client<slam_toolbox::srv::ToggleInteractive>::SharedPtr client =
18 node->create_client<slam_toolbox::srv::ToggleInteractive>("slam_toolbox/toggle_interactive_mode");
19
20 auto request = make_shared<slam_toolbox::srv::ToggleInteractive::Request>();
21
22 // TODO: adapt to the service's parameters
23 // request->a = ...;
24 // request->b = ...;
25
26 while (!client->wait_for_service(1s)) {
27 if (!ok()) {
28 RCLCPP_ERROR(get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
29 return 0;
30 }
31 RCLCPP_INFO(get_logger("rclcpp"), "service not available, waiting again...");
32 }
33
34 auto result = client->async_send_request(request);
35 // Wait for the result.
36 if (spin_until_future_complete(node, result) == FutureReturnCode::SUCCESS)
37 {
38 // TODO: do something with the result
39 // result.get()->...;
40 } else {
41 RCLCPP_ERROR(get_logger("rclcpp"), "Failed to call service slam_toolbox/toggle_interactive_mode");
42 }
43
44 shutdown();
45 return 0;
46}