About response function in a server file.

edit

Hello everybody,

I am a newer to ROS. I defined a srv file:

float64 HeadYawSet
float64 HeadPitchSet
---
float64 HeadYaw
float64 HeadPitch

I am going to write a server to get the value from "HeadYawSet" and "HeadPitchSet" simultaneously acquire joint data to put them in HeadYaw and HeadPitch. And my code is below:

def Receive(req):
#Motion= ALproxy("ALMotion")
    names = "HeadYaw"
    fractionMaxSpeed = 0.1
    useSensors  = True 
    HeadYaw = Motion.getAngles(names, useSensors)
    Motion.setAngles(names, req.HeadYawSet,fractionMaxSpeed)
    names = "HeadPitch"
    HeadPitch=Motion.getAngles(names, useSensors)
    Motion.setAngles(names, req.HeadPitchSet, fractionMaxSpeed)
    req.HeadYaw= HeadYaw;
    req.HeadPitch= HeadPitch;
    #print "HeadYawSet:" %(req.HeadPitchSet)
    #return headResponse( [HeadYaw, HeadPitch] )

##ROS is responsible for communicating the sub-processes with naoqi, it reads any data from the robot and give them to all the sub ##processes and it gets all the data from sub-processes and send them to the robot. NAOQI---ROS---PROCESSES

def receive_server():
    rospy.init_node('head')
    s = rospy.Service('receiving_on_head', head, Receive)
    print "Ready to receive the head joint values"

    rospy.spin()

if __name__ == "__main__":
    receive_server()

it gave me strange errors when I run my client code in C++ Traceback (most recent call last): File "/opt/ros/diamondback/stacks/ros_comm/clients/rospy/src/rospy/impl/tcpros_service.py", line 600, in _handle_request response = convert_return_to_response(self.handler(request), self.response_class) File "head.py", line 34, in Receive req.HeadYaw= HeadYaw; AttributeError: 'headRequest' object has no attribute 'HeadYaw' [ERROR] [WallTime: 1310328838.362102] Error processing request: 'headRequest' object has no attribute 'HeadYaw' None

Can anybody help me a bit here? Thank you so much!