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services are declared in .srv and functionality defined in .cpp

refrer .srv files for more info.

check srv folder for services declared. turtlesim code

in turtle.cpp

  set_pen_srv_              = nh_.advertiseService("set_pen", &Turtle::setPenCallback, this);
  teleport_relative_srv_ = nh_.advertiseService
                                      ("teleport_relative", &Turtle::teleportRelativeCallback, this);
  teleport_absolute_srv_ = nh_.advertiseService
                                      ("teleport_absolute", &Turtle::teleportAbsoluteCallback, this);