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If you really want to use rosservice call .. (ie: a command line tool instead of writing a Service client in something like C++ or Python), press <tab> twice after /compute_ik. That should show you the format the service server expects.

If you really want to use rosservice call .. (ie: a command line tool instead of writing a Service client in something like C++ or Python), press <tab> twice after /compute_ik. That should show you the format the service server expects.

Alternatively (or when auto-complete doesn't work), you could:

rosservice type /compute_ik | rossrv show

That should print the structure of the service message.