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You can't if you intend to use a ROS service. This is how services are designed.

You can create your own service type, if you want, only containing booleans.


bool input
bool output

But you'll still have the respective function signature as

bool Command::arming_service(my_pkg::MyBoolSrv::Request request, my_pkg::MyBoolSrv::Response response) {
   // whatever with request.input and response.output
   return false;

If this doesn't answer your question, please provide more details on your use case and what you actually want to do.