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Can one node be a client for several action/service servers?

asked 2019-05-17 02:22:07 -0500

SkandaNR gravatar image

updated 2019-05-17 03:01:37 -0500

gvdhoorn gravatar image

I have one client which runs a state machine that coordinates between planner node, perception node, localization node and motion control node. I am using ROS action to communicate between state machine and planner node. I want to trigger motion control node when planner node sends a goal status as SUCCEED. Is it possible to use same client state machine node as client for other servers? If possible is it the same also with ROS2 (crystal)?

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does the answer to this question help?

curi_ROS gravatar imagecuri_ROS ( 2019-05-17 02:39:23 -0500 )edit

Question answered? Please tick the checkmark to the left of the answer to mark the question as answered. It should turn green.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-20 06:45:22 -0500 )edit

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answered 2019-05-17 03:02:21 -0500

gvdhoorn gravatar image

updated 2019-05-17 03:03:02 -0500

The Q&A @curi_ROS links should already give you an idea, but to make it explicit:

Is it possible to use same client state machine node as client for other servers?

yes.

If possible is it the same also with ROS2 (crystal)?

yes.

In both cases: action/service clients are "just variables" in your program. You can create a virtually unlimited (within reason) number of clients that way.

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Multiple servers in a single node is also supported btw.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-17 03:03:14 -0500 )edit

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Asked: 2019-05-17 02:22:07 -0500

Seen: 53 times

Last updated: May 17