AS: adding first phase of orientation

ros2_ws/build/py_srvcli/build/lib/py_srvcli/client_member_function.py

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+import sys
+
+from tutorial_interfaces.srv import AddThreeInts
+import rclpy
+from rclpy.node import Node
+
+
+class MinimalClientAsync(Node):
+
+    def __init__(self):
+        super().__init__('minimal_client_async')
+        self.cli = self.create_client(AddThreeInts, 'add_three_ints')
+        while not self.cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+        self.req = AddThreeInts.Request()
+
+    def send_request(self, a, b, c):
+        self.req.a = a
+        self.req.b = b
+        self.req.c = c
+        return self.cli.call_async(self.req)
+
+
+def main():
+    rclpy.init()
+
+    minimal_client = MinimalClientAsync()
+    future = minimal_client.send_request(int(sys.argv[1]), int(sys.argv[2]), int(sys.argv[3]))
+    rclpy.spin_until_future_complete(minimal_client, future)
+    response = future.result()
+    minimal_client.get_logger().info(
+        'Result of add_three_ints: for %d + %d + %d = %d' %
+        (int(sys.argv[1]), int(sys.argv[2]), int(sys.argv[3]), response.sum))
+
+    minimal_client.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/build/py_srvcli/build/lib/py_srvcli/service_member_function.py

@@ -0,0 +1,31 @@
+from tutorial_interfaces.srv import AddThreeInts
+
+import rclpy
+from rclpy.node import Node
+
+
+class MinimalService(Node):
+
+    def __init__(self):
+        super().__init__('minimal_service')
+        self.srv = self.create_service(AddThreeInts, 'add_three_ints', self.add_three_ints_callback)
+
+    def add_three_ints_callback(self, request, response):
+        response.sum = request.a + request.b + request.c
+        self.get_logger().info('Incoming request\na: %d b: %d c: %d' % (request.a, request.b, request.c))
+
+        return response
+
+
+def main():
+    rclpy.init()
+
+    minimal_service = MinimalService()
+
+    rclpy.spin(minimal_service)
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/build/py_srvcli/colcon_build.rc

@@ -0,0 +1 @@
+0

ros2_ws/build/py_srvcli/colcon_command_prefix_setup_py.sh

@@ -0,0 +1,2 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
+. "/root/ros2_ws/install/tutorial_interfaces/share/tutorial_interfaces/package.sh"

ros2_ws/build/py_srvcli/colcon_command_prefix_setup_py.sh.env

@@ -0,0 +1,22 @@
+AMENT_PREFIX_PATH=/root/ros2_ws/install/tutorial_interfaces:/root/ros2_ws/install/py_srvcli:/root/ros2_ws/install/py_pubsub:/root/ros2_ws/install/turtlesim:/root/ros2_ws/install/launch_testing_examples:/root/ros2_ws/install/examples_rclpy_pointcloud_publisher:/root/ros2_ws/install/examples_rclpy_minimal_subscriber:/root/ros2_ws/install/examples_rclpy_minimal_service:/root/ros2_ws/install/examples_rclpy_minimal_publisher:/root/ros2_ws/install/examples_rclpy_minimal_client:/root/ros2_ws/install/examples_rclpy_minimal_action_server:/root/ros2_ws/install/examples_rclpy_minimal_action_client:/root/ros2_ws/install/examples_rclpy_guard_conditions:/root/ros2_ws/install/examples_rclpy_executors:/root/ros2_ws/install/examples_rclcpp_wait_set:/root/ros2_ws/install/examples_rclcpp_multithreaded_executor:/root/ros2_ws/install/examples_rclcpp_minimal_timer:/root/ros2_ws/install/examples_rclcpp_minimal_subscriber:/root/ros2_ws/install/examples_rclcpp_minimal_service:/root/ros2_ws/install/examples_rclcpp_minimal_publisher:/root/ros2_ws/install/examples_rclcpp_minimal_composition:/root/ros2_ws/install/examples_rclcpp_minimal_client:/root/ros2_ws/install/examples_rclcpp_minimal_action_server:/root/ros2_ws/install/examples_rclcpp_minimal_action_client:/root/ros2_ws/install/examples_rclcpp_cbg_executor:/root/ros2_ws/install/examples_rclcpp_async_client:/opt/ros/humble
+CMAKE_PREFIX_PATH=/root/ros2_ws/install/tutorial_interfaces:/root/ros2_ws/install/turtlesim:/root/ros2_ws/install/examples_rclcpp_wait_set:/root/ros2_ws/install/examples_rclcpp_multithreaded_executor:/root/ros2_ws/install/examples_rclcpp_minimal_timer:/root/ros2_ws/install/examples_rclcpp_minimal_subscriber:/root/ros2_ws/install/examples_rclcpp_minimal_service:/root/ros2_ws/install/examples_rclcpp_minimal_publisher:/root/ros2_ws/install/examples_rclcpp_minimal_composition:/root/ros2_ws/install/examples_rclcpp_minimal_client:/root/ros2_ws/install/examples_rclcpp_minimal_action_server:/root/ros2_ws/install/examples_rclcpp_minimal_action_client:/root/ros2_ws/install/examples_rclcpp_cbg_executor:/root/ros2_ws/install/examples_rclcpp_async_client
+COLCON=1
+COLCON_PREFIX_PATH=/root/ros2_ws/install
+HOME=/root
+HOSTNAME=a41c1d4d4b48
+LANG=C.UTF-8
+LC_ALL=C.UTF-8
+LD_LIBRARY_PATH=/root/ros2_ws/install/tutorial_interfaces/lib:/root/ros2_ws/install/turtlesim/lib:/root/ros2_ws/install/examples_rclcpp_wait_set/lib:/root/ros2_ws/install/examples_rclcpp_minimal_subscriber/lib:/root/ros2_ws/install/examples_rclcpp_minimal_composition/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+OLDPWD=/root/ros2_ws/src
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/root/ros2_ws/build/py_srvcli
+PYTHONPATH=/root/ros2_ws/install/tutorial_interfaces/local/lib/python3.10/dist-packages:/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages:/root/ros2_ws/install/py_pubsub/lib/python3.10/site-packages:/root/ros2_ws/install/turtlesim/local/lib/python3.10/dist-packages:/root/ros2_ws/install/launch_testing_examples/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_subscriber/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_service/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_publisher/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_action_server/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_minimal_action_client/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_guard_conditions/lib/python3.10/site-packages:/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHLVL=1
+TERM=xterm
+_=/usr/bin/colcon
+_colcon_cd_root=/opt/ros/humble/

ros2_ws/build/py_srvcli/install.log

@@ -0,0 +1,17 @@
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/__init__.py
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/client_member_function.py
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/service_member_function.py
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/__pycache__/__init__.cpython-310.pyc
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/__pycache__/client_member_function.cpython-310.pyc
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli/__pycache__/service_member_function.cpython-310.pyc
+/root/ros2_ws/install/py_srvcli/share/ament_index/resource_index/packages/py_srvcli
+/root/ros2_ws/install/py_srvcli/share/py_srvcli/package.xml
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/zip-safe
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/dependency_links.txt
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/top_level.txt
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/requires.txt
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/entry_points.txt
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/PKG-INFO
+/root/ros2_ws/install/py_srvcli/lib/python3.10/site-packages/py_srvcli-0.0.0-py3.10.egg-info/SOURCES.txt
+/root/ros2_ws/install/py_srvcli/lib/py_srvcli/client
+/root/ros2_ws/install/py_srvcli/lib/py_srvcli/service

ros2_ws/build/py_srvcli/prefix_override/sitecustomize.py

@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/root/ros2_ws/install/py_srvcli'

ros2_ws/build/py_srvcli/py_srvcli.egg-info/PKG-INFO

@@ -0,0 +1,13 @@
+Metadata-Version: 2.1
+Name: py-srvcli
+Version: 0.0.0
+Summary: srvcli
+Home-page: UNKNOWN
+Maintainer: root
+Maintainer-email: root@todo.todo
+License: Apache-2.0
+Platform: UNKNOWN
+License-File: LICENSE
+
+UNKNOWN
+

ros2_ws/build/py_srvcli/py_srvcli.egg-info/SOURCES.txt

@@ -0,0 +1,18 @@
+LICENSE
+package.xml
+setup.cfg
+setup.py
+../../build/py_srvcli/py_srvcli.egg-info/PKG-INFO
+../../build/py_srvcli/py_srvcli.egg-info/SOURCES.txt
+../../build/py_srvcli/py_srvcli.egg-info/dependency_links.txt
+../../build/py_srvcli/py_srvcli.egg-info/entry_points.txt
+../../build/py_srvcli/py_srvcli.egg-info/requires.txt
+../../build/py_srvcli/py_srvcli.egg-info/top_level.txt
+../../build/py_srvcli/py_srvcli.egg-info/zip-safe
+py_srvcli/__init__.py
+py_srvcli/client_member_function.py
+py_srvcli/service_member_function.py
+resource/py_srvcli
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ros2_ws/build/py_srvcli/py_srvcli.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ros2_ws/build/py_srvcli/py_srvcli.egg-info/entry_points.txt

@@ -0,0 +1,4 @@
+[console_scripts]
+client = py_srvcli.client_member_function:main
+service = py_srvcli.service_member_function:main
+

ros2_ws/build/py_srvcli/py_srvcli.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

ros2_ws/build/py_srvcli/py_srvcli.egg-info/top_level.txt

@@ -0,0 +1 @@
+py_srvcli

ros2_ws/build/py_srvcli/py_srvcli.egg-info/zip-safe

@@ -0,0 +1 @@
+