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add try except for sending move request

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Sem van der Hoeven
2023-05-29 18:36:02 +02:00
parent b5271fe5f3
commit b502c5b285
3 changed files with 18 additions and 12 deletions
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28
src/api_communication/api_communication/api_listener.py
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@@ -137,18 +137,22 @@ class ApiListener(Node):
self.get_logger().info(f'Calling move position service with request: {str(self.move_position_request)}')
self.future = self.move_position_client.call_async(self.move_position_request)
rclpy.spin_until_future_complete(self, self.future)
result = self.future.result()
message_result = {}
message_result['type'] = ResponseMessage.MOVE_DIRECTION_RESULT.name
if result.success == True:
self.get_logger().info('Move position service call success')
message_result['success'] = True
else:
self.get_logger().error('Move position service call failed')
message_result['success'] = False
self.message_queue.append(json.dumps(message_result))
try:
self.future = self.move_position_client.call_async(self.move_position_request)
rclpy.spin_until_future_complete(self, self.future)
result = self.future.result()
message_result = {}
message_result['type'] = ResponseMessage.MOVE_DIRECTION_RESULT.name
if result.success == True:
self.get_logger().info('Move position service call success')
message_result['success'] = True
else:
self.get_logger().error('Move position service call failed')
message_result['success'] = False
self.message_queue.append(json.dumps(message_result))
except Exception as e:
self.get_logger().error('Something went wrong while sending a move position request!\n' + str(e))
def consume_message(self, message):