srv host and client implemented successfully

src/custom_interfaces/srv/CustomSrv1.srv

@@ -1,10 +1,3 @@
-# Header data, eg timestamp
+string command
-# Problem: "header__struct.hpp: No such file or directory"
-#Header header
-
-# Sensor Data coming back from an array of atmospheric sensors
-float32[] temperature
-float32[] pressure
-float32[] humidity
 ---
 bool success

src/pubsub/pubsub/pubsub_library_v3.py

@@ -28,8 +28,8 @@ from rclpy.node import Node
 
 # Definition of Parent Classes
 #******************************************************************************#
-
+# TOPICS
-
+#******************************************************************************#
 
 class MinimalPublisher(Node):
 
@@ -77,7 +77,6 @@ class MinimalPublisher(Node):
 
 #******************************************************************************#
 
-
 class MinimalSubscriber(Node):
 
     def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
@@ -105,9 +104,12 @@ class MinimalSubscriber(Node):
         return self.msg
 
 
-#******************************************************************************#
 
 
+#******************************************************************************#
+# SERVICE
+#******************************************************************************#
+
 class MinimalServiceProvider(Node):
     def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
         self.NODE_NAME = NODE_NAME
@@ -126,20 +128,25 @@ class MinimalServiceProvider(Node):
         * request.<name>
         * response.<name>
         """
+        self.get_logger().info("Service Call received")
 
-        # Add callback code here:
+        # Abstraction layer:
-        # What does Service do?
+        response = self.user_defined(request, response) # Function defined below
-        # ....
+
+        return response
 
 
-        #self.get_logger().info('Incoming request\na: %d b: %d c: %d' % (request.a, request.b, request.c))
+    # Insert your callback code here
+    def user_defined(self, request, response):
+        # Write user defined code here
+        # Adapt to fit your service type
+        response.success = True
         return response
 
 
 #******************************************************************************#
 
-
+class MinimalServiceClientAsync(Node):
-class MinimalServiceClient(Node):
     def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
         self.NODE_NAME = NODE_NAME
         self.SRV_NAME = SRV_NAME
@@ -154,11 +161,20 @@ class MinimalServiceClient(Node):
     def send_request(self, request):
         """
         Feed request of type "SRV_TYPE.Request()"
+        Access variable using 
+        * request = SRV_TYPE.Request()
+        * request.<var_name> = ....
         """
         self.request = request
         self.future = self.srv_client.call_async(self.request)
 
-    def check_if_service_completed(self):
+    def check_if_service_complete(self):
+        """ Checks if service call was answered by host.
+        
+        Returns tuple [done, response]:
+        * done: Bool (service call complete)
+        * response: msg class from srv type
+        """
         if self.future.done():
             try:
                 response = self.future.result()
@@ -166,10 +182,9 @@ class MinimalServiceClient(Node):
                 self.get_logger().info(
                     'Service call failed %r' % (e,))
             else:
+                pass
                 # Adapt to fit service type
-                #self.get_logger().info(
+                # self.get_logger().info('Result of add_three_ints: for %d + %d + %d = %d' %(minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
-                    'Result of add_three_ints: for %d + %d + %d = %d' %                               
+            return self.future.done(), response
-                    (minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
-            return response
         else:
-            return None
+            return self.future.done(), None

src/pubsub/pubsub/service_client.py

@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+
+# Service Type Files
+from custom_interfaces.srv import CustomSrv1
+
+# Service Minimal Host and Client
+import pubsub.pubsub_library_v3 as lib 
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # Create Service Client
+    minimal_client = lib.MinimalServiceClientAsync(NODE_NAME="srv_client_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
+    
+    # Create Service Request
+    srv_request = CustomSrv1.Request()
+    srv_request.command = "Hallo"
+    minimal_client.send_request(srv_request) # send request to service provider
+
+    while rclpy.ok():
+        try:
+            rclpy.spin_once(minimal_client, timeout_sec=0.1)
+            
+            done, response = minimal_client.check_if_service_complete()
+            if done:
+                print(response.success)
+            else:
+                print("Service not complete")
+
+        except (KeyboardInterrupt, SystemExit):
+            print("\n\nShutting down...")
+            minimal_client.destroy_node()
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/pubsub/pubsub/service_host.py

@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+
+# Service Type Files
+from custom_interfaces.srv import CustomSrv1
+
+# Service Minimal Host and Client
+import pubsub.pubsub_library_v3 as lib
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_service = lib.MinimalServiceProvider(NODE_NAME="Service_Host_Test", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
+
+    while rclpy.ok():
+        try:
+            rclpy.spin_once(minimal_service, timeout_sec=0.1)
+            
+        except (KeyboardInterrupt, SystemExit):
+            print("\n\nShutting down...")
+            minimal_service.destroy_node()
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main() 

src/pubsub/setup.py

@@ -21,7 +21,9 @@ setup(
     entry_points={
         'console_scripts': [
             'talker = pubsub.talker:main',
-            'listener = pubsub.listener:main'
+            'listener = pubsub.listener:main',
+            'srvhost = pubsub.service_host:main',
+            'srvclient = pubsub.service_client:main'
         ],
     },
 )