Calling predefined service from python script

edit

Hi all,

I am wondering how to pass an arguments when trying to call rosservice from python script.

I have this server called bcap_service which takes 2 arguments. (This is bcap.srv)

int32 func_id
variant[] vntArgs
---
int32 HRESULT
variant vntRet

(This is variant.msg)

int16 vt
string value

and I am trying to pass these arguments.

rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }'

I have tried assigning them to variables. Tried writing like a YAML and had no results. Here is my code:

def gripper_control():
        rospy.wait_for_service('bcap_service')

        func_id = 3

        vt = 8
        value_1 = 'value: b-CAP'
        value_2 = 'CaoProv.DENSO.VRC'
        value_3 = 'localhost'
        value_4 = ''

        vntArgs = [vt, value_1, vt, value_2, vt, value_3, vt, value_4]

        rospy.ServiceProxy('bcap_service', func_id, vntArgs)

After running the code, I get error like this:

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/denso_robot_bringup/move_group_python_interface_cobotta.py", line 224, in <module>
    gripper_control()
  File "/opt/ros/kinetic/lib/denso_robot_bringup/move_group_python_interface_cobotta.py", line 197, in gripper_control
    rospy.ServiceProxy('bcap_service', func_id, vntArgs)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 404, in __init__
    super(ServiceProxy, self).__init__(name, service_class)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/service.py", line 59, in __init__
    self.request_class = service_class._request_class
AttributeError: 'int' object has no attribute '_request_class'

EDIT:

Full code below:

import sys
import copy
import rospy
import math
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
from geometry_msgs.msg import Pose, Point
from math import pi
from std_msgs.msg import String
from bcap_service.srv import *


def gripper_control():

    rospy.wait_for_service('bcap_service')
    try:

        #create handler to call the service
        bcap_service = rospy.ServiceProxy('bcap_service', bcap)
        print "ServiceProxy success ..."

        #define the request
        func_id = 3
        vt = 8
        value_1 = 'value: b-CAP'
        value_2 = 'CaoProv.DENSO.VRC'
        value_3 = 'localhost'
        value_4 = ''
        vntArgs = [vt, value_1, vt, value_2, vt, value_3, vt, value_4]
        print "Assignment success ..."
        print vntArgs

        #call the service by passing the request to the handler
        #it doesn't require to have the same names as in the .srv
        #But I did it for clarity
        response = bcap_service(func_id, vntArgs)
        print "rosservice call success"

        #store the response in some variables
        result1 = response.HRESULT
        result2 = response.vntRet

        #return the whole response
        return response

    except rospy.ServiceException, e:
        print "Service call failed: %s"%e


if __name__ == '__main__':

    rospy.init_node('cobotta_node')
    robot = moveit_commander.RobotCommander()
    scene = moveit_commander.PlanningSceneInterface()
    group = moveit_commander.MoveGroupCommander("arm")

    gripper_control()