sem/5g_drone_ROS2
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add describe service position changer is waiting for

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Sem van der Hoeven
2023-05-30 10:57:20 +02:00
parent cb37cbc02c
commit 91c02d2abe
1 changed files with 5 additions and 5 deletions
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10
src/drone_controls/src/PositionChanger.cpp
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@@ -56,11 +56,11 @@ public:
this->failsafe_client = this->create_client<drone_services::srv::EnableFailsafe>("/drone/enable_failsafe"); this->failsafe_client = this->create_client<drone_services::srv::EnableFailsafe>("/drone/enable_failsafe");
RCLCPP_INFO(this->get_logger(), "waiting for trajectory service..."); RCLCPP_INFO(this->get_logger(), "waiting for trajectory service...");
wait_for_service<rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr>(this->trajectory_client); wait_for_service<rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr>(this->trajectory_client, "/drone/set_trajectory");
RCLCPP_INFO(this->get_logger(), "waiting for vehicle control service..."); RCLCPP_INFO(this->get_logger(), "waiting for vehicle control service...");
wait_for_service<rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr>(this->vehicle_control_client); wait_for_service<rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr>(this->vehicle_control_client, "/drone/set_vehicle_control");
RCLCPP_INFO(this->get_logger(), "waiting for failsafe service..."); RCLCPP_INFO(this->get_logger(), "waiting for failsafe service...");
wait_for_service<rclcpp::Client<drone_services::srv::EnableFailsafe>::SharedPtr>(this->failsafe_client); wait_for_service<rclcpp::Client<drone_services::srv::EnableFailsafe>::SharedPtr>(this->failsafe_client, "/drone/enable_failsafe");
this->trajectory_request = std::make_shared<drone_services::srv::SetTrajectory::Request>(); this->trajectory_request = std::make_shared<drone_services::srv::SetTrajectory::Request>();
this->vehicle_control_request = std::make_shared<drone_services::srv::SetVehicleControl::Request>(); this->vehicle_control_request = std::make_shared<drone_services::srv::SetVehicleControl::Request>();
@@ -374,7 +374,7 @@ private:
* @param client the client object to wait for the service * @param client the client object to wait for the service
*/ */
template <class T> template <class T>
void wait_for_service(T client) void wait_for_service(T client, std::string service_name)
{ {
while (!client->wait_for_service(1s)) while (!client->wait_for_service(1s))
{ {
@@ -383,7 +383,7 @@ private:
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting."); RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return; return;
} }
RCLCPP_INFO(this->get_logger(), "service not available, waiting again..."); RCLCPP_INFO(this->get_logger(), "service not available, waiting again on service %s", service_name.c_str());
} }
} }
}; };