test_service_client.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import rospy
from cob_control_msgs.srv import GetObstacleDistance, GetObstacleDistanceRequest, GetObstacleDistanceResponse

if __name__ == "__main__":
    rospy.wait_for_service('/calculate_distance')
    try:
        client = rospy.ServiceProxy('/calculate_distance', GetObstacleDistance)
        req = GetObstacleDistanceRequest()
        req.links.append("arm_left_7_link")
        res = client(req)
        print(res)
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e)