node: Add ServiceProxy/create_client

CHANGELOG.md

@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 - `helpers`:
     - `Publisher`, `Subscriber` and `Timer` decorators for ROS1 nodes.
     - `Execute` function to create node instance and spin it.
+- `uninode`:
+    - Support for ServiceProxy/create_client.
 
 ### Fixed
 - `reconfigure`:

autopsy/node.py

@@ -232,6 +232,19 @@ def Service(self, name, service_class, handler, buff_size=65536, error_handler=N
         return super(Node, self).create_service(srv_type = service_class, srv_name = name, callback = handler)
 
 
+    def ServiceProxy(self, name, service_class, persistent=False, headers=None):
+        """Create a handle for invoking a service call.
+
+        Arguments (only those that are used):
+        name -- name of the service, str
+        service_class -- class of the ROS service message
+
+        Reference:
+        http://docs.ros.org/en/kinetic/api/rospy/html/rospy.impl.tcpros_service.ServiceProxy-class.html
+        """
+        return super(Node, self).create_client(srv_type = service_class, srv_name = name)
+
+
     def Time(self, secs = 0, nsecs = 0):
         """Create a Time object.
 

autopsy/ros1_node.py

@@ -130,6 +130,20 @@ def create_service(self, srv_type, srv_name, callback, **kwargs):
         return rospy.Service(name = srv_name, service_class = srv_type, handler = callback)
 
 
+    def create_client(self, srv_type, srv_name, **kwargs):
+        """Create a service client.
+
+        Arguments:
+        srv_type -- class of the used ROS service message
+        srv_name -- name of the service
+        **kwargs -- other, currently unsupported arguments
+
+        Reference:
+        https://docs.ros2.org/latest/api/rclpy/api/node.html#rclpy.node.Node.create_client
+        """
+        return rospy.ServiceProxy(name = srv_name, service_class = srv_type)
+
+
     def get_clock(self):
         """Get clock used by the node."""
         return Clock()