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Hi,
I am having trouble understanding or creating service calls for loading maps using map_server. This link provides idea of how to call it from the terminal. But unable to understand how can I call it from the python node. What should be my import like nav_msgs.srv or map_msgs.srv.
Thanks in advance
Updating solution just in case anyone has the same problem.
To import, we have to use.
from nav2_msgs.srv import LoadMap
Sample code for the service call
Class Service(Node):
def__init__(self):
self.map_client = self.create_client(LoadMap,'/map_server/load_map')
self.map_request = LoadMap.Request()
while not self.map_client.wait_for_service(timeout_sec=10.0):
self.get_logger().info('Waiting for service')
self.send_request()
def send_request(self):
self.map_request.map_url = "../maps/my_map.yaml"
wait = self.map_client.call_async(self.map_request)
rclpy.spin_until_future_complete(self, wait)
if wait.result() is not None:
self.get_logger().info('Request was responded')
else:
self.get_logger().info('Request Failed')
This will send map data to /map topic that can be used to get the map data
Asked: 2022-03-29 12:15:02 -0600
Seen: 687 times
Last updated: Mar 29 '22
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