Ask Your Question

Revision history [back]

I don't know how about C++/roscpp, but in node.js (using rosnodejs) this is relative straightforward:

const rosnodejs = require('rosnodejs');

rosnodejs.initNode('/testing').then((rosNode) => {

  rosNode._node._masterApi.getSystemState().then(state => {

    const s = Object.keys(
      serviceName => serviceName.match(/^\/rviz.*save/));

    const client = rosNode.serviceClient(s, 'rviz/SendFilePath');

    console.log(`calling service ${s}`);{path: { data: '/tmp/rviz.rviz' }}).then( response => {
      console.log('service response:', response);


> node test.js 
[INFO] [1603735888.341] (ros): Connected to master at http://localhost:11311!
calling service /rviz_1603735127814459630/save_config
service response: SendFilePathResponse { success: true }

In C++ you would presumably need to follow a similar approach, i.e., make a xmlrpc call to the ROS master API to lookup all services and then match your regex against that list. But I'm not familiar with how to do that in C++.

Hope this helps.