Fixed (#320)

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

Author: aaronchongth

rmf_demos_tasks/rmf_demos_tasks/cancel_task.py

@@ -27,7 +27,7 @@
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy as Reliability
 
-from rmf_task_msgs.msg import ApiRequest
+from rmf_task_msgs.msg import ApiRequest, ApiResponse
 
 ###############################################################################
 
@@ -61,6 +61,16 @@ def __init__(self, argv=sys.argv):
             ApiRequest, 'task_api_requests', transient_qos
         )
 
+        self.response = rclpy.Future()
+
+        def receive_response(response_msg: ApiResponse):
+            if response_msg.request_id == msg.request_id:
+                self.response.set_result(json.loads(response_msg.json_msg))
+
+        self.sub = self.create_subscription(
+            ApiResponse, 'task_api_responses', receive_response, transient_qos
+        )
+
         # Construct task
         msg = ApiRequest()
         msg.request_id = 'cancel_task_' + str(uuid.uuid4())
@@ -82,7 +92,13 @@ def main(argv=sys.argv):
     args_without_ros = rclpy.utilities.remove_ros_args(sys.argv)
 
     task_requester = TaskRequester(args_without_ros)
-    rclpy.spin_once(task_requester)
+    rclpy.spin_until_future_complete(
+        task_requester, task_requester.response, timeout_sec=5.0
+    )
+    if task_requester.response.done():
+        print(f'Got response: \n{task_requester.response.result()}')
+    else:
+        print('Did not get a response')
     rclpy.shutdown()