Calling a ROS2 service from the callback of another service

service_from_service.py

import time
from threading import Event

from example_interfaces.srv import AddTwoInts

import rclpy
from rclpy.node import Node
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor


class ServiceFromService(Node):

    def __init__(self):
        super().__init__('action_from_service')
        self.service_done_event = Event()

        self.callback_group = ReentrantCallbackGroup()

        self.client = self.create_client(
            AddTwoInts,
            '/add_two_ints',
            callback_group=self.callback_group
        )

        self.srv = self.create_service(
            AddTwoInts,
            'add_two_ints_proxy',
            self.add_two_ints_proxy_callback,
            callback_group=self.callback_group
            )

        self.srv = self.create_service(
            AddTwoInts,
            'add_two_ints',
            self.add_two_ints_callback,
            )

    def add_two_ints_callback(self, request, response):
        self.get_logger().info('Request received: {} + {}'.format(request.a, request.b))
        response.sum = request.a + request.b
        return response

    def add_two_ints_proxy_callback(self, request, response):
        if not self.client.wait_for_service(timeout_sec=5.0):
            self.get_logger().error('No action server available')
            return response

        self.service_done_event.clear()

        event=Event()
        def done_callback(future):
            nonlocal event
            event.set()

        future = self.client.call_async(request)
        future.add_done_callback(done_callback)

        # Wait for action to be done
        # self.service_done_event.wait()
        event.wait()

        return future.result()

    def get_result_callback(self, future):
        # Signal that action is done
        self.service_done_event.set()


def main(args=None):
    rclpy.init(args=args)

    service_from_service = ServiceFromService()

    executor = MultiThreadedExecutor()
    rclpy.spin(service_from_service, executor)

    rclpy.shutdown()


if __name__ == '__main__':
    main()

How can I do the same on C++ nodes? Thank you!!

Thanks for this gist, it helped me perform callbacks from within callbacks. I have one question though. What is the purpose of get_result_callback which seems to be never called?

Probably to have a reusable handler instead of a locally defined function. You can do this with lambda captures, but I'm not sure which version is more messy.

def done_callback(self, future, event):
        event.set()
        event.clear()   # seems to work when immediately cleared, for reuse       

def svc_server_cb(self):
    ....
   event = Event()
   future.add_done_callback(lambda f, e=event: self.done_callback(f, e))
   event.wait()