我想要一个服务“ save_readings”,该服务可以将rostopic中的数据自动保存到文件中。但是,每次调用该服务时,它都不会保存任何文件。 我试图在不使用rosservice的情况下在python中运行那些保存文件的代码,并且代码工作正常。 我不明白为什么会这样。
#!/usr/bin/env python
# license removed for brevity
import rospy,numpy
from std_msgs.msg import String,Int32MultiArray,Float32MultiArray,Bool
from std_srvs.srv import Empty,EmptyResponse
import geometry_msgs.msg
from geometry_msgs.msg import WrenchStamped
import json
# import settings
pos_record = []
wrench_record = []
def ftmsg2listandflip(ftmsg):
return [ftmsg.wrench.force.x,ftmsg.wrench.force.y,ftmsg.wrench.force.z, ftmsg.wrench.torque.x,ftmsg.wrench.torque.y,ftmsg.wrench.torque.z]
def callback_pos(data):
global pos_record
pos_record.append(data.data)
def callback_wrench(data):
global wrench_record
ft = ftmsg2listandflip(data)
wrench_record.append([data.header.stamp.to_sec()] + ft)
def exp_listener():
stop_sign = False
rospy.Subscriber("stage_pos", Float32MultiArray, callback_pos)
rospy.Subscriber("netft_data", WrenchStamped, callback_wrench)
rospy.spin()
def start_read(req):
global pos_record
global wrench_record
pos_record = []
wrench_record = []
return EmptyResponse()
def save_readings(req):
global pos_record
global wrench_record
filename = rospy.get_param('save_file_name')
output_data = {'pos_list':pos_record, 'wrench_list': wrench_record }
rospy.loginfo("output_data %s",output_data)
with open(filename, 'w') as outfile: # write data to 'data.json'
print('dumping json file')
json.dump(output_data, outfile) #TODO: find out why failing to save the file.
outfile.close()
print("file saved")
rospy.sleep(2)
return EmptyResponse()
if __name__ == '__main__':
try:
rospy.init_node('lisener_node', log_level = rospy.INFO)
s_1 = rospy.Service('start_read', Empty, start_read)
s_1 = rospy.Service('save_readings', Empty, save_readings)
exp_listener()
print ('mylistener ready!')
except rospy.ROSInterruptException:
pass
答案 0 :(得分:0)
知道了。我需要指定要保存文件的路径。
save_path = '/home/user/catkin_ws/src/motionstage/'
filename = save_path + filename