niryo_libraries.rospy.ServiceProxy

class documentation

class ServiceProxy(_Service):

Constructor: ServiceProxy(name, service_class, persistent, headers)

Create a handle to a ROS service for invoking calls.

Usage::: add_two_ints = ServiceProxy('add_two_ints', AddTwoInts) resp = add_two_ints(1, 2)

Method	`__call__`	Callable-style version of the service API. This accepts either a request message instance, or you can call directly with arguments to create a new request instance. e.g.:
Method	`__init__`	ctor. @param name: name of service to call @type name: str @param service_class: auto-generated service class @type service_class: Service class @param persistent: (optional) if True, proxy maintains a persistent connection to service...
Method	`call`	Call the service. This accepts either a request message instance, or you can call directly with arguments to create a new request instance. e.g.:
Method	`close`	Close this ServiceProxy. This only has an effect on persistent ServiceProxy instances.
Method	`wait_for_service`	Undocumented
Instance Variable	`buff_size`	Undocumented
Instance Variable	`persistent`	Undocumented
Instance Variable	`protocol`	Undocumented
Instance Variable	`seq`	Undocumented
Instance Variable	`transport`	Undocumented
Instance Variable	`uri`	Undocumented
Method	`_get_service_uri`	private routine for getting URI of service to call @param request: request message @type request: L{rospy.Message}

def __call__(self, *args, **kwds): ¶

Callable-style version of the service API. This accepts either a request message instance, or you can call directly with arguments to create a new request instance. e.g.:

add_two_ints(AddTwoIntsRequest(1, 2))
add_two_ints(1, 2)
add_two_ints(a=1, b=2)

@param args: arguments to remote service @param kwds: message keyword arguments @raise ROSSerializationException: If unable to serialize message. This is usually a type error with one of the fields.

def __init__(self, name, service_class, persistent=False, headers=None): ¶

ctor. @param name: name of service to call @type name: str @param service_class: auto-generated service class @type service_class: Service class @param persistent: (optional) if True, proxy maintains a persistent connection to service. While this results in better call performance, persistent connections are discouraged as they are less resistant to network issues and service restarts. @type persistent: bool @param headers: (optional) arbitrary headers @type headers: dict

def call(self, *args, **kwds): ¶

Call the service. This accepts either a request message instance, or you can call directly with arguments to create a new request instance. e.g.:

add_two_ints(AddTwoIntsRequest(1, 2))
add_two_ints(1, 2)
add_two_ints(a=1, b=2)

@raise TypeError: if request is not of the valid type (Message) @raise ServiceException: if communication with remote service fails @raise ROSInterruptException: if node shutdown (e.g. ctrl-C) interrupts service call @raise ROSSerializationException: If unable to serialize message. This is usually a type error with one of the fields.

def close(self): ¶

Close this ServiceProxy. This only has an effect on persistent ServiceProxy instances.

def wait_for_service(self, timeout=None): ¶

Undocumented

buff_size = ¶

Undocumented

persistent = ¶

Undocumented

protocol = ¶

Undocumented

seq: int = ¶

Undocumented

transport = ¶

Undocumented

uri = ¶

Undocumented

def _get_service_uri(self, request): ¶

private routine for getting URI of service to call @param request: request message @type request: L{rospy.Message}