Service server coded by hand

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Hi all,

We use a control library (called orocos). Associated to this library there is a mechanism which allows to convert custom service types from .srv files and to automatically translate them into custom orocos types. To make this story short, this translation mechanism seems to be currently broken in orocos.

So I have thought about a workaround which consists in implementing a custom service server (the client would remain the existing ROS service client). Do you have any advice on how this could implemented?

Regards,

Antoine.