Merge pull request #92 from ihuicatl/main

Add ROS service/client widget

jupyros/ros_widgets.py

@@ -287,4 +287,42 @@ def step_clk(arg):
     btm_box = widgets.VBox([bgpath_box, options_hbox, duration_box, start_box, que_box, factor_box, delay_box, buttons_hbox, out_box])
     widget_list.append(btm_box)
     vbox = widgets.VBox(children=widget_list)
+    return vbox
+
+
+def client(srv_name, srv_type):
+    """
+    Create a form widget for message type srv_type.
+    This function analyzes the fields of srv_type and creates
+    an appropriate widget.
+
+    @param srv_type The service message type
+    @param srv_name The service name to call
+
+    @return jupyter widget for display
+    """
+    rospy.wait_for_service(srv_name, timeout=5)
+
+    widget_list = []
+    widget_dict = {}
+
+    add_widgets(srv_type._request_class(), widget_dict, widget_list)
+    call_btn = widgets.Button(description="Call Service")
+
+    def call_srv(arg):
+        msg_to_send = srv_type._request_class()
+        widget_dict_to_msg(msg_to_send, widget_dict)
+
+
+        try:
+            service = rospy.ServiceProxy(srv_name, srv_type)
+            return service(msg_to_send)
+        except rospy.ServiceException as e:
+            print("Service call failed: %s" % e)
+
+    call_btn.on_click(call_srv)
+
+    widget_list.append(call_btn)
+    vbox = widgets.VBox(children=widget_list)
+
     return vbox

notebooks/ROS Service.ipynb

@@ -0,0 +1,105 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "3b12ee9d",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%load_ext autoreload\n",
+    "%autoreload 2\n",
+    "\n",
+    "import rospy\n",
+    "from rospy_tutorials.srv import AddTwoInts, AddTwoIntsResponse\n",
+    "import jupyros\n",
+    "from turtlesim.srv import Spawn"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "e2d89970",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rospy.init_node(\"adder\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "8725d5f8",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def handle_add_two_ints(req):\n",
+    "    print(\"Returning [%s + %s = %s]\"%(req.a, req.b, (req.a + req.b)))\n",
+    "    return AddTwoIntsResponse(req.a + req.b)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "f218a9a6",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "%%thread_cell\n",
+    "\n",
+    "srv = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "cc3df77b",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "jupyros.client('add_two_ints', AddTwoInts)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "0b94e2ad",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# !rosrun turtlesim turtlesim_node"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "539a6cac",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "jupyros.client('spawn', Spawn)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.9.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}