list_module_sets`#

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/module_manager_node/list_module_sets Quick Facts

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

Lists the available modules sets on the robot.

See application-management.

Quick snippets#

Call the service from command-line#

$ ros2 service call /module_manager_node/list_module_sets pal_module_srvs/srv/ListModuleSets
# (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 ListModuleSets

class ListModuleSetsClientAsync(Node):

    def __init__(self):
        super().__init__('module_manager_node_list_module_sets_client_async')
        self.cli = self.create_client(ListModuleSets, 'module_manager_node_list_module_sets')
        while not self.cli.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('service not available, waiting again...')
        self.req = ListModuleSets.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 = ListModuleSetsClientAsync()

    # 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_list_module_sets: %s' % response)

    rclpy.shutdown()

Example of a complete ROS2 node asynchronously calling the service#

#include "rclcpp/rclcpp.hpp"
#include "pal_module_srvs/srv/list_module_sets.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/list_module_sets_client");
    Client<pal_module_srvs::srv::ListModuleSets>::SharedPtr client =
        node->create_client<pal_module_srvs::srv::ListModuleSets>("module_manager_node/list_module_sets");

    auto request = make_shared<pal_module_srvs::srv::ListModuleSets::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/list_module_sets");
    }

    shutdown();
    return 0;
}

/module_manager_node/list_module_sets#

Quick snippets#

How to use in your code#

`/module_manager_node/list_module_sets`#