How to use service set_pose

Software Python
1

Hello,
Im currently running the zed_node by the command: roslaunch zed_wrapper zed2.launch

There i see the service zed_interfaces/set_pose and I believe I can set the zed camera pose. This is my code so far looking from ROS wiki examples on using srv.

from zed_interfaces.srv import set_pose
def set_zedPose(x, y, z, R, P, Y):
rospy.wait_for_service(“zed_interfaces/set_pose”)
try:
set_pose = rospy.ServiceProxy(“zed_interfaces/set_pose”, zed_interfaces.srv.set_pose)
resp = set_pose(x, y, z, R, P, Y)
return resp
except rospy.ServiceException as e:
print(“unable to set pose”)

apologize if I do stupid mistake. Im still new to ROS and services. If someone has an example code for it, it would be very much appreciated.
Thank you.

Best,
Krisna

2

Hi Krisna,
please format your Python code, otherwise it is not possible to read it.

image

3

Oh sorry, I did not know that…

from zed_interfaces.srv import set_pose

def set_zedPose(x, y, z, R, P, Y):
    rospy.wait_for_service(“zed_interfaces/set_pose”)
    try:
        set_pose = rospy.ServiceProxy(“zed_interfaces/set_pose”, zed_interfaces.srv.set_pose)
        resp = set_pose(x, y, z, R, P, Y)
        return resp
    except rospy.ServiceException as e:
        print(“unable to set pose”)
4

What kind of error are you getting from your code?
Do you see errors in the ZED node log?

5

Actually no error, but it stuck in rospy.wait_for_service(). Even though when I look on the list of services using rossrv list, there exist the service zed_interfaces/set_pose.

If I commented the line rospy.wait_for_service(), the line

set_pose = rospy.ServiceProxy("zed_interfaces/set_pose", zed_interfaces.srv.set_pose)

It gives an error saying that NameError: name ‘zed_interfaces’ is not defined

6

You must use the name of the service, not the type, e.g. /zed2i/zed_node/set_pose

7

Hi again. yes sorry for the stupid mistake. I thought “rossrv list” would give all the available ros services, but it just gives you the type. for anyone that is still newbie for me, use “rosservice list” instead.

I also attached my code if anyone is interested.

Set_Pose = set_pose()
def set_zedPose(x, y, z, R, P, Y):
    print("waiting for set pose service")
    rospy.wait_for_service("/zed2/zed_node/set_pose")
    print("found the set_pose service!")
    try:
        setpose = rospy.ServiceProxy("/zed2/zed_node/set_pose", Set_Pose)
        resp = setpose(x, y, z, R, P, Y)
        print("response of the service is: ", resp)
        return resp
    except rospy.ServiceException as e:
        print("service not working yet")

if everything goes well, the service would return:

response of the service is:  done: True

thank you @Myzhar for your help!

1 Like