ROS Service Server

The Follow Along Examples:

Follow along: ROS Service Server Example

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.
  • Open the 02_02_ros_service_client.ipynb Jupyter Notebook
  • Import the necessary python libraries and modules
  • Follow and Execute the example codes
(The Jetson Board used for these examples are => Jetson Nano)

Open the following jupyter notebook:

  • 02_02_ros_service_client.ipynb

  • To run the cells within the notebook use Ctrl + Enter

  • Import print_function from __future__ module for Python3 compatibility

  • Import sys module

  • Import rospy_tutorials.srv module

  • Import rospy modules

from __future__ import print_function
import sys
import rospy
from rospy_tutorials.srv import *

  • Create add_two_ints_client() function

  • Create add_two_ints_client()

  • Get add_two_ints Service result

  • exception handling

def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    try:
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
        resp1 = add_two_ints(x, y)
        return resp1.sum
    except rospy.ServiceException as e:
        print("Service call failed: %s"%e)

  • Get user input x, y, and output the calculation result:

def usage():
    return "%s [x y]"%sys.argv[0]

input_num = input("숫자 두 개를 입력하세요(ex: a,b) : ")
x = int(input_num[0])
y = int(input_num[1])
print("Requesting %s+%s"%(x, y))
print("%s + %s = %s"%(x, y, add_two_ints_client(x, y)))