AS: adding first phase of orientation

ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-client==0.15.3','console_scripts','client'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-client==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-client==0.15.3', 'console_scripts', 'client')())

ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-client==0.15.3','console_scripts','client_async'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-client==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-client==0.15.3', 'console_scripts', 'client_async')())

ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async_callback

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-client==0.15.3','console_scripts','client_async_callback'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-client==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-client==0.15.3', 'console_scripts', 'client_async_callback')())

ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async_member_function

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-minimal-client==0.15.3','console_scripts','client_async_member_function'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-minimal-client==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-minimal-client==0.15.3', 'console_scripts', 'client_async_member_function')())

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/PKG-INFO

@@ -0,0 +1,19 @@
+Metadata-Version: 2.1
+Name: examples-rclpy-minimal-client
+Version: 0.15.3
+Summary: Examples of minimal service clients using rclpy.
+Home-page: UNKNOWN
+Author: Mikael Arguedas
+Author-email: mikael@osrfoundation.org
+Maintainer: Aditya Pande, Shane Loretz
+Maintainer-email: aditya.pande@openrobotics.org, shane@openrobotics.org
+License: Apache License, Version 2.0
+Keywords: ROS
+Platform: UNKNOWN
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python
+Classifier: Topic :: Software Development
+
+UNKNOWN
+

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/SOURCES.txt

@@ -0,0 +1,20 @@
+README.md
+package.xml
+setup.cfg
+setup.py
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/PKG-INFO
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/SOURCES.txt
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/dependency_links.txt
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/entry_points.txt
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/requires.txt
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/top_level.txt
+../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/zip-safe
+examples_rclpy_minimal_client/__init__.py
+examples_rclpy_minimal_client/client.py
+examples_rclpy_minimal_client/client_async.py
+examples_rclpy_minimal_client/client_async_callback.py
+examples_rclpy_minimal_client/client_async_member_function.py
+resource/examples_rclpy_minimal_client
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/entry_points.txt

@@ -0,0 +1,6 @@
+[console_scripts]
+client = examples_rclpy_minimal_client.client:main
+client_async = examples_rclpy_minimal_client.client_async:main
+client_async_callback = examples_rclpy_minimal_client.client_async_callback:main
+client_async_member_function = examples_rclpy_minimal_client.client_async_member_function:main
+

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/requires.txt

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

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/top_level.txt

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

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/zip-safe

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client.py

@@ -0,0 +1,44 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from example_interfaces.srv import AddTwoInts
+
+import rclpy
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = rclpy.create_node('minimal_client')
+    cli = node.create_client(AddTwoInts, 'add_two_ints')
+
+    req = AddTwoInts.Request()
+    req.a = 41
+    req.b = 1
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('service not available, waiting again...')
+
+    future = cli.call_async(req)
+    rclpy.spin_until_future_complete(node, future)
+
+    result = future.result()
+    node.get_logger().info(
+        'Result of add_two_ints: for %d + %d = %d' %
+        (req.a, req.b, result.sum))
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async.py

@@ -0,0 +1,48 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from example_interfaces.srv import AddTwoInts
+
+import rclpy
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = rclpy.create_node('minimal_client_async')
+
+    cli = node.create_client(AddTwoInts, 'add_two_ints')
+
+    req = AddTwoInts.Request()
+    req.a = 41
+    req.b = 1
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('service not available, waiting again...')
+
+    future = cli.call_async(req)
+    while rclpy.ok():
+        rclpy.spin_once(node)
+        if future.done():
+            result = future.result()
+            node.get_logger().info(
+                'Result of add_two_ints: for %d + %d = %d' %
+                (req.a, req.b, result.sum))
+            break
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async_callback.py

@@ -0,0 +1,67 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from example_interfaces.srv import AddTwoInts
+
+import rclpy
+from rclpy.callback_groups import ReentrantCallbackGroup
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = rclpy.create_node('minimal_client')
+    # Node's default callback group is mutually exclusive. This would prevent the client response
+    # from being processed until the timer callback finished, but the timer callback in this
+    # example is waiting for the client response
+    cb_group = ReentrantCallbackGroup()
+    cli = node.create_client(AddTwoInts, 'add_two_ints', callback_group=cb_group)
+    did_run = False
+    did_get_result = False
+
+    async def call_service():
+        nonlocal cli, node, did_run, did_get_result
+        did_run = True
+        try:
+            req = AddTwoInts.Request()
+            req.a = 41
+            req.b = 1
+            future = cli.call_async(req)
+            result = await future
+            node.get_logger().info(
+                'Result of add_two_ints: for %d + %d = %d' %
+                (req.a, req.b, result.sum))
+        finally:
+            did_get_result = True
+
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('service not available, waiting again...')
+
+    timer = node.create_timer(0.5, call_service, callback_group=cb_group)
+
+    while rclpy.ok() and not did_run:
+        rclpy.spin_once(node)
+
+    if did_run:
+        # call timer callback only once
+        timer.cancel()
+
+    while rclpy.ok() and not did_get_result:
+        rclpy.spin_once(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async_member_function.py

@@ -0,0 +1,56 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from example_interfaces.srv import AddTwoInts
+
+import rclpy
+from rclpy.node import Node
+
+
+class MinimalClientAsync(Node):
+
+    def __init__(self):
+        super().__init__('minimal_client_async')
+        self.cli = self.create_client(AddTwoInts, 'add_two_ints')
+        while not self.cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+        self.req = AddTwoInts.Request()
+
+    def send_request(self):
+        self.req.a = 41
+        self.req.b = 1
+        self.future = self.cli.call_async(self.req)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_client = MinimalClientAsync()
+    minimal_client.send_request()
+
+    while rclpy.ok():
+        rclpy.spin_once(minimal_client)
+        if minimal_client.future.done():
+            response = minimal_client.future.result()
+            minimal_client.get_logger().info(
+                'Result of add_two_ints: for %d + %d = %d' %
+                (minimal_client.req.a, minimal_client.req.b, response.sum))
+            break
+
+    minimal_client.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()