Hello everyone. I managed to let the BB8 perform two small squares or one big square but not both with the same service call. If I understand correctly, the objective is to let him perform both by only launching the call_bb8_move_in_square_custom_service_server.launch file. Even with the exact same code from the solutions, he does only the two small squares without the big one. What did I do wrong?
welcome to the community !
What you have to do is create a service server, which executes certain actions depending on your call. Then you have to create a client which calls the server. It is here that you define the size/length of the square and how many repetitions it runs.
Server(side, repetitions): for r in range(repetitions) for i in range(4) move_straight(side): turn_90_deg(): Client(): call_server(2,2) call_server(4,1)
This is not actual code, just what the functionality should be. Hope that helps
Sorry about the confusion, which might be due to the image in the notebook:
- Only two squares are required: one small (1sqm or more), one big (2sqm or more).
- Your code must repeat the squares as many times as specified in the
repetitionsvariable. Repetitions can be
>= 1, so your code needs to be prepared for this, as hinted by @simon.steinmann91.
We have just fixed an error in the solution of the Services Quiz (ROS Basics C++ Course). Please feel free to check it out and let us know if it works as expected now.
Thanks for the help.
The new solutions did work for me. But in line 16 of the file ‘bb8_move_custom_service_server.cpp’, there is a ‘;’ missing and the loop must get changed to ‘for (int i=0; i < reps; ++i)’. Then it’s working fine, thanks.