RosClient¶

A ROS 2 Service Client for making requests to a service server.

Description¶

RosClient allows Godot to act as a client for ROS 2 services. It is created through RosNode.create_client() and is used to send requests and receive responses asynchronously.

Communication follows a request-response pattern: the client sends a RosMsg request and receives a RosMsg response. Use the async_send_request() method to send a request which will return

a RosRequest object, which acts as a handle for the request. Use this handle to wait for the response or get it when ready.

Methods¶

RosRequest	async_send_request(request: RosMsg)
RosMsg	create_request()
bool	wait_for_service(timeout_sec: float)
void	wait_for_service_async(timeout_sec: float)

Signals¶

service_available(available: bool) 🔗

Emitted when the service server becomes available or when an asynchronous wait times out.

Method Descriptions¶

RosRequest async_send_request(request: RosMsg) 🔗

Sends a service request asynchronously. Returns a RosRequest object that can be used to track the progress of the request and retrieve the response.

RosMsg create_request() 🔗

Creates and returns an empty RosMsg of the correct type for this client's service requests.

bool wait_for_service(timeout_sec: float) 🔗

Blocks until the service server is available or the timeout_sec is reached. Returns true if the service is available.

void wait_for_service_async(timeout_sec: float) 🔗

Asynchronously waits for the service server to become available up to timeout_sec seconds. Emits the service_available signal when the service state changes or the timeout is reached.