Mirekgoebel am 29. Januar 2026 um 16:01 Uhr

2026-01-29T16:01:20Z

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	[[Overview_and_the_most_important_commands_of_ROS2\|zurück zum Hauptartikel]]		[[Overview_and_the_most_important_commands_of_ROS2\|zurück zum Hauptartikel]]

			Note: the asynchronous mode is used so that the request does not block anything. Therefore this is the recommended way to do it.
			<source line lang="python" style="font-size:small">
			#!/usr/bin/env python # this specifies the interpreter of this script

			# ros-core-library for standard ros2-functionality (this is the one for python)
			import rclpy
			# use ROS-nodes
			from rclpy.node import Node
			# Import the Trigger module from std_srvs Service interface of type std_srvs/srv/Trigger
			from std_srvs.srv import Trigger

			# create a Node "MyNode" with the name "text_recognition_client"
			class MyNode(Node):

			def __init__(self):
			# Initialize the node with the name 'text_recognition_client'
			super().__init__('MyNodeName')

			# Create the Service Client object
			# This defines the name ('user_def_service') and type (Trigger) of the Service Server to connect to.
			name_service = '/user_def_service'
			self.client = self.create_client(Trigger, name_service)

			# Wait for the service to be available (checks every second)
			while not self.client.wait_for_service(timeout_sec=1.0):
			self.get_logger().info('Service '+name_service+' not available, waiting again...')

			# Create an empty Trigger request
			self.req = Trigger.Request()

			def send_request(self):
			# Send the request asynchronously
			self.future = self.client.call_async(self.req)


			def main(args=None):
			# Initialize the ROS communication
			rclpy.init(args=args)

			# Declare the node constructor
			client = MyNode()

			# Run the send_request() method
			client.send_request()

			while rclpy.ok():
			# Spin once to check for a service response
			rclpy.spin_once(client)

			if client.future.done():
			try:
			# Check if a response from the service was received
			response = client.future.result()
			except Exception as e:
			# Log any exceptions
			client.get_logger().info(f'Service call failed: {e}')
			else:
			# Log the service response
			client.get_logger().info(f'Success: {response.success}, Detected text: {response.message}')
			break

			# Destroy the client node
			client.destroy_node()

			# Shutdown the ROS communication
			rclpy.shutdown()


			if __name__ == '__main__':
			main()
			</source>

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2026-01-29T16:00:32Z

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[[Kategorie:ROS2]]

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ROS2: Template to program a Client - Versionsgeschichte

Mirekgoebel am 29. Januar 2026 um 16:01 Uhr

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