Python Migration guide from ROS 1¶

Node Initialization¶

# rospy.init_node('asdf')
rclpy.init(args=sys.argv)
node = rclpy.create_node('asdf')

Creating a Publisher¶

# pub = rospy.Publisher('chatter', String)
pub = node.create_publisher(String, 'chatter')

Creating a Subscriber¶

# sub = rospy.Subscriber('chatter', String, callback)
sub = node.create_subscription(String, 'chatter', callback)

Creating a Service¶

# srv = rospy.Service('add_two_ints', AddTwoInts, add_two_ints_callback)
srv = node.create_service(AddTwoInts, 'add_two_ints', add_two_ints_callback)

Creating a Service Client¶

# rospy.wait_for_service('add_two_ints')
# add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
# resp = add_two_ints(req)
add_two_ints = node.create_client(AddTwoInts, 'add_two_ints')
while not add_two_ints.wait_for_service(timeout_sec=1.0):
    node.get_logger().info('service not available, waiting again...')
resp = add_two_ints.call_async(req)
rclpy.spin_until_future_complete(node, resp)