Question

Hi. Sorry for all mistakes, English is not my native language. I'm in procces of migrating my project to ROS2 Foxy. In my ROS1 project I have following launch file:

<?xml version="1.0"?>
<launch>
    <arg name="enable" default="true"/>

    <node pkg="rosservice" type="rosservice" name="enable_limiter" args="call --wait /minicar/control/enable_limiter $(arg enable)" />
</launch>

How can I use rosservice in such way in ROS2? I found ros2service package in /opt/ros/foxy/lib/python3.8/site-packages/ros2service path, but, strangely, couldn't find executable for it so I'm not sure, how this launch file should look in ROS2. Appreciate any help.

Asked by Edvard on 2022-11-16 01:28:30 UTC

Answer 1

Hello @Edvard,

Try out this code,

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch.substitutions import TextSubstitution

def generate_launch_description():


    enable_launch_arg = DeclareLaunchArgument(
        "enable", default_value=TextSubstitution(text="true")
        )

    node_1 = Node(
        package='rosservice',
        executable='rosservice',
        name='enable_limiter',
        arguments=["call","--wait","-b","/minicar/control/enable_limiter",],
        parameters=[{
        "enable": LaunchConfiguration('enable'),
        }]
    )

    return LaunchDescription([
        enable_launch_arg,
        node_1,
        ])

Execution of code:

ros2 launch <path_to_launch_file> enable:=false

Asked by Ranjit Kathiriya on 2022-11-16 03:29:24 UTC

Comments

Thank you very much for your help. This is what I get

raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'rosservice' not found, searching: ['/home/mikita/ros2_ws/install/rqt_minicar_control', '/home/mikita/ros2_ws/install/magical_ros2_conversion_tool', '/home/mikita/ros2_ws/install/roscompile', '/home/mikita/ros2_ws/install/ros_introspection', '/home/mikita/ros2_ws/install/minicar_teleop', '/home/mikita/ros2_ws/install/minicar_slam', '/home/mikita/ros2_ws/install/minicar_simulator', '/home/mikita/ros2_ws/install/minicar_rviz', '/home/mikita/ros2_ws/install/minicar_navigation', '/home/mikita/ros2_ws/install/minicar_master', '/home/mikita/ros2_ws/install/minicar_hw', '/home/mikita/ros2_ws/install/minicar_description', '/home/mikita/ros2_ws/install/minicar_control', '/home/mikita/ros2_ws/install/minicar_bluetooth', '/home/mikita/ros2_ws/install/explore_lite', '/opt/ros/foxy']"

Maybe you have any though?

Asked by Edvard on 2022-11-16 03:44:52 UTC

rosservice : Ros2 does not find your package. Have you added your rosservice package into setup.py file?

Asked by Ranjit Kathiriya on 2022-11-16 06:51:20 UTC

Thank you again, that you trying to help me. No, maybe I'm wrong, but following this tutorial I thought, that setup.py file adds in package if package itself contains only python files, but my package contains C++ nodes. Also, as far as I know, rosservice is ROS1 package and couldn't find in my system at all. I managed to find ros2service, but there are no executable in it.

Asked by Edvard on 2022-11-16 08:06:35 UTC

I am sorry. Yes, you are right you have to use CMakeLists.txt if you are using cpp. You are still getting same error?

Note: You need to change nodes and execution based on your package and node names.

feel free to drop a comment in case you are facing any issue.

Asked by Ranjit Kathiriya on 2022-11-16 08:39:28 UTC

I'm think that I managed to solve this issue, node is launched successfully for now. I launch this node independently, but because this node is part of bigger project and I for now managed port and start half of packages form which project consist I'll add comment regarding to this question than I manage to launch all parts of the project and test, if it works the way as it should. Thank you for your help

Asked by Edvard on 2022-11-17 01:26:08 UTC

rosservice package for ros2

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