How to call a ROS service with a launch file every time press the joystick to control UUV vehicle in Gazebo simulation?

asked 2021-09-14 09:01:33 -0500

Astronaut gravatar image


Im using Gazebo 9 and ROS melodic for some UUV Simulation. I created a ROS Service that pass the IMU sensors values from the Server to Client. Now I would like to use this service as a sensor feedback to the controller every time I control the UUV( means every time I press the joystick). Here are the Server and Client Node and the launch control file.

Server node

#include "ros/ros.h"
#include <sensor_msgs/Imu.h>
#include "imu_service/ImuValue.h"

ros::ServiceServer service;
double current_x_orientation_s;
double get_imu_orientation_x;

bool get_val(imu_service::ImuValue::Request  &req, imu_service::ImuValue::Response &res)

    ROS_INFO("sending back response");    
    res.current_x_orientation_s = get_imu_orientation_x;
    //.. same for the other IMU values


void imuCallback(const  sensor_msgs::ImuConstPtr& msg)

     current_x_orientation_s= msg->orientation.x;
     // ..same for other IMU values


int main(int argc, char **argv)
  ros::init(argc, argv, "imu_status_server");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("/thrbot/imu", 10, imuCallback);
  service = n.advertiseService("imu_status_server", get_val);
  ROS_INFO("Starting server...");
  return 0;

Client node

#include "ros/ros.h"
#include "imu_service/ImuValue.h"
#include <cstdlib>

int main(int argc, char **argv)
        ros::NodeHandle n;
    ros::ServiceClient client = n.serviceClient<imu_service::ImuValue>("imu_status_server");
    imu_service::ImuValue srv;;
    std::cout << "Got accel x: " << srv.response.current_x_orientation_s << std::endl;
        if (
        ROS_INFO("Sum: %ld", (long int)srv.response.current_x_orientation_s);
        ROS_ERROR("Failed to call service add_two_ints");
        return 1;

  return 0;

And this is the launch file I like to use to call ROS Service every time I press the joystick to control the UUV robot

<launch> <arg name="namespace" default="thrbot"/> <arg name="joy_id" default="0"/> <arg name="axis_x" default="4"/> <arg name="axis_y" default="3"/> <arg name="axis_z" default="1"/> <arg name="axis_yaw" default="0"/>

<arg name="gui_on" default="true"/>

<include file="$(find thrbot_control)/launch/start_thruster_manager.launch">
    <arg name="uuv_name" value="$(arg namespace)"/>

<group ns="$(arg namespace)">
    <rosparam file="$(find thrbot_control)/config/inertial.yaml" command="load"/>
    <rosparam file="$(find thrbot_control)/config/vel_pid_control.yaml" command="load"/>

    <node pkg="uuv_control_cascaded_pid" type="" name="acceleration_control"
        <param name="tf_prefix" type="string" value="$(arg namespace)/" />

    <node pkg="uuv_control_cascaded_pid" type="" name="velocity_control"
        <remap from="odom" to="pose_gt"/>

<include file="$(find uuv_teleop)/launch/uuv_teleop.launch">
    <arg name="uuv_name" value="$(arg namespace)"/>
    <arg name="joy_id" value="$(arg joy_id)"/>
    <arg name="output_topic" value="cmd_vel"/>
    <arg name="message_type" value="twist"/>
    <arg name="axis_yaw" value="$(arg axis_yaw)"/>
    <arg name="axis_x" value="$(arg axis_x)"/>
    <arg name="axis_y" value="$(arg axis_y)"/>
    <arg name="axis_z" value="$(arg axis_z)"/>
    <arg name="gain_yaw" default="0.1"/>
    <arg name="gain_x" default="0.2"/>
    <arg name="gain_y" default="0.2"/>
    <arg name="gain_z" default="0.2"/>

    <!--arg name="gain_yaw" default="0.1"/> -->
    <!--arg name="gain_x" default="0.2"/>  -->
    < ...
edit retag flag offensive close merge delete


This approach is going to have very low performance. Services are not designed to be called multiple times a second.

What is your question?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-09-17 12:20:43 -0500 )edit

no. Its not meant to be called multiple times a second. It was just example. Can be called every 5 seconds or even every 30 seconds. I just want to be called by press button on the joystick. The frequency of the call is irrelevant. OK?

Astronaut gravatar image Astronaut  ( 2021-09-19 02:31:31 -0500 )edit