ROS Pythhon에서 Service Call까지의 프로세스

개시하다

조사 서비스

$ rosservice list
/rosout/get_loggers
/rosout/set_logger_level

$ rosservice type /rosout/get_loggers
roscpp/GetLoggers

$ rosservice type /rosout/set_logger_level
roscpp/SetLoggerLevel

$ rossrv show roscpp/GetLoggers
---
roscpp/Logger[] loggers
  string name
  string level

$ rossrv show roscpp/SetLoggerLevel
string logger
string level
---

Python에서 호출

#!/usr/bin/env python

import rospy
from roscpp.srv import GetLoggers 

rospy.wait_for_service('/rosout/get_loggers')

get_loggers = rospy.ServiceProxy('/rosout/get_loggers', GetLoggers)

response = get_loggers()

print(response)

#!/usr/bin/env python

import rospy
from roscpp.srv import SetLoggerLevel

rospy.wait_for_service('/rosout/set_logger_level')

set_logger_level = rospy.ServiceProxy('/rosout/set_logger_level', SetLoggerLevel)

set_logger_level("rosout","DEBUG")

참고 자료