704_send_and_wait_in_the_future.py

import compas_rrc as rrc

if __name__ == "__main__":
    # Create Ros Client
    ros = rrc.RosClient()
    ros.run()

    # Create ABB Client
    abb = rrc.AbbClient(ros, "/rob1")
    print("Connected.")

    # Send and defer waiting
    future = abb.send(
        rrc.PrintText(
            "Send instructions to the robot and check the feedack later.",
            feedback_level=rrc.FeedbackLevel.DONE,
        )
    )

    # Here you can execute other operations
    print("Execute other code.")

    # Wait for feedback
    done = future.result(timeout=3.0)

    # Print feedback
    print("Feedback = ", done)

    # End of Code
    print("Finished")

    # Close client
    ros.close()