BRSRI/bellande_functionality_api
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This commit is contained in:
Ronaldson Bellande 2024-05-08 13:39:45 -04:00
parent bb87e61cb7
commit c06fb4b927
2 changed files with 8 additions and 7 deletions
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2
ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
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@ -8,7 +8,7 @@ def ros1_launch_description():
args = sys.argv[1:] args = sys.argv[1:]
# Construct the ROS 1 launch command # Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.py"] + args roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
# Execute the launch command # Execute the launch command
subprocess.call(roslaunch_command) subprocess.call(roslaunch_command)

13
ros_web_api_bellande_step/src/bellande_step_api_2d.py
View File

@ -18,11 +18,11 @@ def main():
endpoint_path = config['endpoint_path']["2d"] endpoint_path = config['endpoint_path']["2d"]
# Get the parameters from the ROS parameter server # Get the parameters from the ROS parameter server
x1 = rospy.get_param('x1') x1 = rospy.get_param('x1', 0)
y1 = rospy.get_param('y1') y1 = rospy.get_param('y1', 0)
x2 = rospy.get_param('x2') x2 = rospy.get_param('x2', 0)
y2 = rospy.get_param('y2') y2 = rospy.get_param('y2', 0)
limit = rospy.get_param('limit') limit = rospy.get_param('limit', 3)
# JSON payload # JSON payload
payload = { payload = {
@ -47,6 +47,7 @@ def main():
response.raise_for_status() # Raise an error for unsuccessful responses response.raise_for_status() # Raise an error for unsuccessful responses
data = response.json() data = response.json()
print("Next Step:", data['next_step']) print("Next Step:", data['next_step'])
except requests.exceptions.RequestException as e: except requests.exceptions.RequestException as e:
print("Error:", e) print("Error:", e)
@ -55,6 +56,6 @@ if __name__ == '__main__':
if ros_version == "1": if ros_version == "1":
import rospy import rospy
elif ros_version == "2": elif ros_version == "2":
rclpy import rclpy
main() main()