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How to create a Service with ROSJava [closed]

asked 2012-01-01 01:11:09 -0500

When you install latest release of ROSJava you have an example named: rosjava_tutorial_pubsub. This example is really useful to understand how to publish topcs and how to subscribe, but in the release, I didn't have any example to create a service with rosjava.

Anybody can help me?

Juan Antonio

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Closed for the following reason the question is answered, right answer was accepted by damonkohler
close date 2012-02-02 01:59:34

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answered 2012-01-05 01:00:45 -0500

damonkohler gravatar image

Services are also created from nodes just as publishers and subscribers are. Have a look at the javadoc for Node.newServiceClient and Node.newServiceServer.

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answered 2012-01-31 03:15:25 -0500

Markus Eich gravatar image

I have the same problem here. I ended up with modifying the pubsub example. I read the javadoc and I ended at the node.newServiceServer part. I started to write my first service with empty request and empty response.

  ServiceServer<org.ros.message.std_msgs.Empty, org.ros.message.std_msgs.Empty> server = node.newServiceServer("callme",)

According to the javadoc, the params are

  • Type Parameters:
    • RequestType - type for the request
    • ResponseType - type for the response
  • Parameters:
    • serviceName - the name of the service
    • serviceType - the type of the service (e.g. "test_ros/AddTwoInts")
    • responseBuilder - called for every request to build a response

Now I am lost. What is the serviceType and what the responseBuilder?????? Can anyone complete my simple line if I want to have a simple service printing "hello world" if the service /callme is called? Thank you.

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Comments

Please ask new questions instead of extending an existing question with a new answer. serviceType is the type of the service (e.g. test_ros/AddTwoInts). The responserBuilder is the ServiceResponseBuilder and generates a response for a given request. I've updated the javadoc to be more explicit.
damonkohler gravatar image damonkohler  ( 2012-02-02 01:59:23 -0500 )edit

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Asked: 2012-01-01 01:11:09 -0500

Seen: 337 times

Last updated: Jan 31 '12