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ROS2 how can I call a service and wait for the response from within a subscriber callback?

ardent
C++

asked 2018-06-21 09:51:35 -0500

vandy2000
38 ●2 ●3 ●8

I'd like to continue to spin but know when the request is available, using C++

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answered 2018-06-21 13:34:01 -0500

William

17335 ●101 ●182 ●262 http://wjwwood.io/

This is not currently possible, so you'll have to do an asynchronous service call, starting it in the subscription callback and finishing it in a callback when the response is received. Here's an example:

https://github.com/ros2/demos/blob/06...

In general, it's a bad idea to block in a subscription (or service, or timer) callback since that prevents other callbacks from being handled.

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Asked: 2018-06-21 09:51:35 -0500

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ROS2 how can I call a service and wait for the response from within a subscriber callback?