Services are defined using srv files, which are compiled into source code by a ROS client library. A client can make a persistent connection to a service, which enables higher performance at the cost of less robustness to service provider changes.

Wrapping things up – What is a ROS service ? A ROS service is a client/server system. Here are some of the main characteristics of a ROS service: It is synchronous. The client sends a requests, and blocks until it receives a response. You should use ROS services only for computations and quick actions. For example the client will send some ...

Service definitions, request messages, and response messages. ROS Services are defined by srv files, which contains a request message and a response message. These are identical to the messages used with ROS Topics (see rospy message overview).

rosservice contains the rosservice command-line tool for listing and querying ROS Services. It also contains a Python library for retrieving information about Services and dynamically invoking them. The Python library is experimental and is for internal-use only. The rossrv tool provides information about srv files.

Goal: Learn about services in ROS 2 using command line tools. Tutorial level: Beginner. Time: 10 minutes. Services are another method of communication for nodes in the ROS graph. Services are based on a call-and-response model versus the publisher-subscriber model of topics.

2023年9月6日 · If you are a beginner in ROS and want to learn how to create a ROS service, this tutorial is for you. I describe all the steps in details starting with creating the package and up to use the service and print the results.

2022年8月12日 · With ROS 2 services, one or many "client" nodes can make requests to a "server" node and wait for its response. These make services great for performing on-demand tasks – like performing on-the-fly computations or simple one-time tasks.

There are several ways you could write a service and client in C++; check out the minimal_service and minimal_client packages in the ros2/examples repo.

rosservice can easily attach to ROS's client/service framework with services. rosservice has many commands that can be used on services, as shown below: Usage: rosservice call call the service with the provided args. rosservice type print service …

In ROS 2, a service refers to a remote procedure call. In other words, a node can make a remote procedure call to another node which will do a computation and return a result. This structure is reflected in how a service message definition looks: