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I found the solution. In my callback, I need to return a boolean type because my response is bool.

Another issue, when I try to control robot arm speed with the real robot I can see the all ros services but I can't see them for simulation. If you want to use the existing ros service for simulation write a script and call it. If you will use a real robot, all services would be there and running.

Blockquote Please correct me if I'm wrong, but your problem seems: I want to be able to set the speed and I can't get the server that was implemented working.

Thanks man I really appreciate your detailed answer but this is a journey and we learn every day huh :)

I found the solution. In my callback, I need to return a boolean type because my response is bool.

Another issue, when I try to control robot arm speed with the real robot I can see the all ros services but I can't see them for simulation. If you want to use the existing ros service for simulation write a script and call it. If you will use a real robot, all services would be there and running.

Blockquote Please correct me if I'm wrong, but but your problem seems: I want to be able able to set the speed and I can't get the the server that was implemented working.

Thanks man I really appreciate your detailed answer but this is a journey and we learn every day huh :)