rclpy.experimental.async_client module

class rclpy.experimental.async_client.AsyncClient(context: ~rclpy.context.Context, client_impl: object, srv_type: ~typing.Type[rosidl_pycommon.interface_base_classes.BaseService.(~SrvRequestT, ~SrvResponseT).(~SrvRequestT, ~SrvResponseT)], srv_name: str, qos_profile: rclpy.qos.QoSProfile, on_destroy: ~typing.Callable[[~rclpy.experimental.async_client.AsyncClient], None], tg: ~asyncio.taskgroups.TaskGroup | None = None)

Bases: BaseClient[SrvRequestT, SrvResponseT]

A client of a ROS service.

Experimental

This API is experimental.

Create a container for a ROS service client.

Warning

Users should not create a service client with this constructor, instead they should call Node.create_client() or AsyncNode.create_client().

async call(request: SrvRequestT) → SrvResponseT

Send a service request and await the response.

async wait_for_service(*, check_interval: float = 0.1) → None

Wait for a service server to become ready.

To apply a timeout, wrap the call with async with asyncio.timeout().

Parameters:

check_interval – Seconds between checks. Defaults to 0.1.