ROS2 4.5.2 wufatongxing

richard491067290

#!/usr/bin/env python3
from typing_extensions import Self
from unittest import result
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
from village_interfaces.srv import  BorrowMoney

class BaiPiaoNode(Node):
    """
    创建一个李三节点，并在初始化时输出一个话
    """
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info("大家好，我是李三，李四他哥，我可以白嫖李四的小说！")
        self.sub_ = self.create_subscription(String,"sexy_girl",self.recv_callback,10)

        self.borrow_client = self.create_client(BorrowMoney,"borrow_money")

    def recv_callback(self,novel):
        self.get_logger().info('李三：我已经收到了：%s' % novel.data)

    
    def borrow_money_eat(self,money=10):
        self.get_logger().info("jieqianchimalatang,yaojie %d" % money)

        while not self.borrow_client.wait_for_service(1.0):
            self.get_logger().warn("buzaixian")
        
        request = BorrowMoney.Request()
        request.neme =self.get_name()
        request.money = money
        
        self.borrow_client.call_async(request).add_done_callback(self.borrow_response_callback)



    def borrow_response_callback(self,response):
        result = response.result()
        if result.success == True :
            self.get_logger().info("jiedao%d" % result.money)
        else:
            self.get_logger().info("meidechi")



def main(args=None):
    """
    ros2运行该节点的入口函数，可配置函数名称
    """
    rclpy.init(args=args) # 初始化rclpy
    node = BaiPiaoNode("li3")  # 新建一个节点
    node.borrow_money_eat()
    rclpy.spin(node) # 保持节点运行，检测是否收到退出指令（Ctrl+C）
    rclpy.shutdown() # rcl关闭

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
# 1. 导入消息类型
from std_msgs.msg import String,UInt32
#从村庄接口服务类中导入借钱服务
from village_interfaces.srv import BorrowMoney

class WriterNode(Node):
    """
    创建一个李四节点，并在初始化时输出一个话
    """
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info("大家好，我是%s,我是一名作家！" % name)
        # 2.创建并初始化发布者成员属性pubnovel
        self.pub_novel = self.create_publisher(String,"sexy_girl", 10) 

        #3. 编写发布逻辑
        # 创建定时器成员属性timer
        self.i = 0 # i 是个计数器，用来算章节编号的
        timer_period = 5  #每5s写一章节话
        self.timer = self.create_timer(timer_period, self.timer_callback)  #启动一个定时装置，每 1 s,调用一次time_callback函数

        self.account = 80 
        self.submoney = self.create_subscription(UInt32,"sexy_girl_money",self.recv_money_callback,10)
    
        self.borrow_server = self.create_service(BorrowMoney,"borrow_money",self.borrow_money_callback)

    def borrow_money_callback(self,request, response):

        self.get_logger().info("收到来自: %s 的借钱请求，目前账户内还有%d元" % (request.name, self.account))
    #根据李四借钱规则，借出去的钱不能多于自己所有钱的十分之一，不然就不借
        if request.money <= int(self.account*0.1):
            response.success = True
            response.money = request.money
            self.account = self.account - request.money
            self.get_logger().info("借钱成功，借出%d 元 ,目前账户余额%d 元" % (response.money,self.account))
        else:
            response.success = False
            response.money = 0
            self.get_logger().info("对不起兄弟，手头紧,不能借给你")
        return response


    def timer_callback(self):
        """
        定时器回调函数
        """
        msg = String()
        msg.data = '第%d回：潋滟湖 %d 次偶遇胡艳娘' % (self.i,self.i)
        self.pub_novel.publish(msg)  #将小说内容发布出去
        self.get_logger().info('李四:我发布了艳娘传奇："%s"' % msg.data)    #打印一下发布的数据，供我们看
        self.i += 1 #章节编号+1

    def recv_money_callback(self,money):

        self.account += money.data
        self.get_logger().info('li4:woyijingshoudaole%ddegaofei' % self.account)


def main(args=None):
    rclpy.init(args=args)
    node= WriterNode("li4")
    rclpy.spin(node)
    rclpy.shutdown()

小鱼

@richard491067290 贴下运行的终端情况