ROS Programming: Building Powerful Robots

Services

ROS uses a simplified service description language to describe ROS service types. This builds directly upon the ROS msg format to enable request/response communication between nodes. Service descriptions are stored in .srv files in the srv/ subdirectory of a package.

To call a service, you need to use the package name, along with the service name; for example, you will refer to the sample_package1/srv/sample1.srv file as sample_package1/sample1.

Several tools exist to perform operations on services. The rossrv tool prints out the service descriptions and packages that contain the .srv files and finds source files that use a service type.

If you want to create a service, ROS can help you with the service generator. These tools generate ...