How to use response of service

edit

Since, i have written my own service which takes float values [x, y, z, a, b, c, d] and respond Pose. When i run the server node, i can see the service and call it. But i create the client, i am unable to use the service values.

I want to call my service from terminal and sending it pose for commanding robot through moveit.

My code for server #

import sys
import copy
import rospy
import geometry_msgs.msg
import tf

from move_to_pose_iit.srv import getPoseArray, getPoseArrayResponse

from geometry_msgs.msg import Pose

def handle_get_pose_array(req):
    my_array = Pose()
    my_array.position.x = req.x
    my_array.position.y = req.y
    my_array.position.z = req.z


 my_array.orientation.x = req.a
    my_array.orientation.y = req.b
    my_array.orientation.z = req.c
    my_array.orientation.w = req.d

    return getPoseArrayResponse(my_array)

def get_pose_array_server():
rospy.init_node('get_pose_array_server')
s =rospy.Service('get_pose_array', getPoseArray, handle_get_pose_array)

rospy.spin()

if __name__ == "__main__":
    get_pose_array_server()

For client

import rospy
from move_to_pose_iit.srv import *

    from geometry_msgs.msg import Pose

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
import tf


def get_pose_array_client(pose):
    rospy.wait_for_service('get_pose_array')
    try:
        # bind our local service proxy
        svc_set_joint_states = rospy.ServiceProxy('get_pose_array', getPoseArray)



     # create the service request
        req = getPoseArrayRequest()
# populate the fields of the request
        req.x = pose[0]
        req.y = pose[1]
        req.z = pose[2]
        req.a = pose[3]
        req.b = pose[4]


req.c = pose[5]
    req.d = pose[6]

# invoke the service, passing it the request
resp = scv_set_joint_states(req)

# 'resp' is here of type 'SetJointStatesReponse'

# perhaps do something with the response

except rospy.ServiceException, e:
        print "Service call failed: %s"%e


if __name__ == "__main__":
    if len(sys.argv) == 6:
       pose[0] = float(sys.argv[1])
       pose[1] = float(sys.argv[2])
       pose[2] = float(sys.argv[3])
       pose[3] = float(sys.argv[4])
       pose[4] = float(sys.argv[5])



     pose[5] = float(sys.argv[6])
       pose[6] = float(sys.argv[7])

       get_pose_array_client(pose)

robot=moveit_commander.RobotCommander()
scene=moveit_commander.PlanningSceneInterface()

group=moveit_commander.MoveGroupCommander("panda_arm")
display=rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=10)

pose_target = Pose()


pose_target.position.x = pose[0]
pose_target.position.y = pose[1]
pose_target.position.z = pose[2]
pose_target.orientation.x = pose[3]

pose_target.orientation.y = pose[4]
pose_target.orientation.z = pose[5]
pose_target.orientation.w = pose[6]

group.set_pose_target(pose_target)

plan1 = group.plan()
group.go(wait=True)

rospy.sleep(20)

moveit_commander.roscpp_shutdown()