ServiceClientオブジェクトのmethodが上手く定義されない
Kanazawanaoaki opened this issue · 2 comments
Kanazawanaoaki commented
$ rossrv show pr2_mechanism_msgs/SwitchController
int32 BEST_EFFORT=1
int32 STRICT=2
string[] start_controllers
string[] stop_controllers
int32 strictness
---
bool ok
のpr2_mechanism_msgs/SwitchControllerサービスのServiceClientオブジェクトを生成してもstart_controllers等のmethodが定義されない．
$ roseus
1.irteusgl$ (ros::load-ros-manifest "pr2_mechanism_msgs")
t
2.irteusgl$ (setq req (instance pr2_mechanism_msgs::SwitchController :init ))
#<pr2_mechanism_msgs::switchcontroller #X563e2d19dc90>
3.irteusgl$ (send req :start_controllers "r_arm_controller_loose")
Call Stack (max depth: 20):
0: at (send req :start_controllers "r_arm_controller_loose")
1: at #<compiled-code #X563e2c217e18>
/opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: cannot find method :start_controllers in (send req :start_controllers "r_arm_controller_loose")
4.E1-irteusgl$ (send req :methods)
(:init :md5sum- :datatype- :connection-header :plist :get :put :name :remprop :prin1 :prin1 :warning :error :slots :methods :super :get-val :set-val)例えば他のサービスを試してみると，
1.irteusgl$ (ros::load-ros-manifest "dynamic_tf_publisher")
t
2.irteusgl$ (setq req (instance dynamic_tf_publisher::SetDynamicTFRequest :init))
#<dynamic_tf_publisher::setdynamictfrequest #X562123876c30>
3.irteusgl$ (send req :methods)
(:init :freq :cur_tf :serialization-length :serialize :deserialize :response :init :md5sum- :datatype- :connection-header :plist :get :put :name :remprop :prin1 :prin1 :warning :error :slots :methods :super :get-val :set-val)のようにmethodが定義されています．
pythonだと，
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from pr2_mechanism_msgs.srv import SwitchController
sp = rospy.ServiceProxy('/pr2_controller_manager/switch_controller', SwitchController)
resp = sp(start_controllers=["r_arm_controller_loose"], stop_controllers=["r_arm_controller"])のように書くことで実行できることは確認しました．
何が問題なのでしょうか？
Kanazawanaoaki commented
(setq req (instance pr2_mechanism_msgs::SwitchController :init ))を
(setq req (instance pr2_mechanism_msgs::SwitchControllerRequest :init ))のように，クラス名にRequestを追加したら上手く定義されました．
1.irteusgl$ (ros::load-ros-manifest "pr2_mechanism_msgs")
t
2.irteusgl$ (setq req (instance pr2_mechanism_msgs::SwitchControllerRequest :init ))
#<pr2_mechanism_msgs::switchcontrollerrequest #X55a56f9bc410>
3.irteusgl$ (send req :methods)
(:init :start_controllers :stop_controllers :strictness :serialization-length :serialize :deserialize :response :init :md5sum- :datatype- :connection-header :plist :get :put :name :remprop :prin1 :prin1 :warning :error :slots :methods :super :get-val :set-val)タイポすると，下のようにunbound variableのエラーが出るのでRequestを付け忘れた時もRequestを付けるように案内するエラーが出ると良さそうです．
2.irteusgl$ (setq req (instance pr2_mechanism_msgs::SwitchControlle :init ))
Call Stack (max depth: 20):
0: at (instantiate pr2_mechanism_msgs::switchcontrolle)
1: at (let ((#:inst458 (instantiate pr2_mechanism_msgs::switchcontrolle))) (send #:inst458 :init) #:inst458)
2: at (instance pr2_mechanism_msgs::switchcontrolle :init)
3: at (setq req (instance pr2_mechanism_msgs::switchcontrolle :init))
4: at #<compiled-code #X55d5c5e99e18>
/opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: unbound variable pr2_mechanism_msgs::switchcontrolle in (instantiate pr2_mechanism_msgs::switchcontrolle)Affonso-Gui commented