modelec/modelec-marcel-ROS
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waiting for server

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This commit is contained in:
acki
2024-12-06 12:33:33 -05:00
parent 6b6974e4ec
commit 4d62db5c16
2 changed files with 18 additions and 0 deletions
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9
src/modelec/src/arm_controller.cpp
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@@ -6,6 +6,15 @@ namespace Modelec {
publisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
// ensure the server is up
while (!client_->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return;
}
RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
}
for (int pin : {PINCE_1_PIN, PINCE_2_PIN, PINCE_3_PIN, ARM_1_PIN, ARM_2_PIN}) {
auto request = std::make_shared<modelec_interface::srv::NewServoMotor::Request>();
request->pin = pin;

9
src/modelec/src/gamecontroller_listener.cpp
View File

@@ -19,6 +19,15 @@ namespace Modelec {
client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
// ensure the server is up
while (!client_->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return;
}
RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
}
for (auto servo : solarPannelServos) {
auto request = std::make_shared<modelec_interface::srv::NewServoMotor::Request>();
request->pin = servo.pin;