ros与python3、gRPC同时使用

项目中需要同时使用ros、python3、gRPC。
使用记录如下：
ros与python3、gRPC共同使用的方法
先编译工程

source source /opt/ros/kinetic/setup.bash 
catkin_make

后续需要使用rosrun等指令时，无论出于python2.7还是python3环境，只需要

source devel/setup.bash

在python3环境中第一次尝试运行publisher

cd ros_python3_example/scripts
python talker.py

#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    print(rospy.__file__)
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

报错

ModuleNotFoundError: No module named ‘rospkg’
python3环境下安装rospkg

pip install rospkg

再次运行python talker.py，即可正常发送消息
接着打开新terminal，source devel/setup.py,运行python listener.py，也可收到消息。

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
    
def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("chatter", String, callback)
    
    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()

此时即证明了ros可以和python3一起使用

在修改listener.py，在其中加入一个gRPC的服务，再重新启动listener.py

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

from concurrent import futures
import time
import grpc
import helloworld_pb2
import helloworld_pb2_grpc

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
    
def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("chatter", String, callback)

    # 启动 rpc 服务
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    helloworld_pb2_grpc.add_GreeterServicer_to_server(Greeter(), server)
    server.add_insecure_port('[::]:50051')
    server.start()
    
    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

    server.stop(0)

# 实现 proto 文件中定义的 GreeterServicer
class Greeter(helloworld_pb2_grpc.GreeterServicer):
    # 实现 proto 文件中定义的 rpc 调用
    def SayHello(self, request, context):
        return helloworld_pb2.HelloReply(message = 'hello {msg}'.format(msg = request.name))

    def SayHelloAgain(self, request, context):
        return helloworld_pb2.HelloReply(message='hello {msg}'.format(msg = request.name))

def serve():
    # 启动 rpc 服务
    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
    helloworld_pb2_grpc.add_GreeterServicer_to_server(Greeter(), server)
    server.add_insecure_port('[::]:50051')
    server.start()
    try:
        while True:
            time.sleep(60*60*24) # one day in seconds
    except KeyboardInterrupt:
        server.stop(0)

if __name__ == '__main__':
    listener()

其中helloworld.proto

syntax = "proto3";

service Greeter {
    rpc SayHello(HelloRequest) returns (HelloReply) {}
    rpc SayHelloAgain(HelloRequest) returns (HelloReply) {}
}

message HelloRequest {
    string name = 1;
}

message HelloReply {
    string message = 1;
}

处理helloworld.proto文件

python -m grpc_tools.protoc --python_out=. --grpc_python_out=. -I. helloworld.proto

再启动listener.py

python listener.py

打开两个terminal，分别运行python talker.py和python client.py均可获取正常的结果。
client.py内容

import grpc
import helloworld_pb2
import helloworld_pb2_grpc

def run():
    # 连接 rpc 服务器
    channel = grpc.insecure_channel('localhost:50051')
    # 调用 rpc 服务
    stub = helloworld_pb2_grpc.GreeterStub(channel)
    response = stub.SayHello(helloworld_pb2.HelloRequest(name='czl'))
    print("Greeter client received: " + response.message)
    response = stub.SayHelloAgain(helloworld_pb2.HelloRequest(name='daydaygo'))
    print("Greeter client received: " + response.message)

if __name__ == '__main__':
    run()

以上即证明了，ros可以和python3、gRPC同时使用