How to use rosservice call with correct parameter form?

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Hi,

I'm using Roscopter package and want to send some waypoints to my copter.

The /waypoint is a service I can find using rosservice list

they type of /waypoint is roscopter/SendWaypoint I use rossrv show to check the type format:

roscopter/Waypoint waypoint
  uint8 TYPE_NAV=1
  uint8 TYPE_CONDITION_YAW=2
  uint8 TYPE_CONDITION_CHANGE_ALT=3
  uint8 TYPE_TAKEOFF=4
  int32 latitude
  int32 longitude
  int32 altitude
  uint16 pos_acc
  uint8 speed_to
  uint16 hold_time
  int32 yaw_from
  int32 pan_angle
  int32 tilt_angle
  uint8 waypoint_type
---
bool result

then I run the command: rosservice call /waypoint 15 22 0 40 0 30 3 0 0 0

I put 10 arguments for 10 parameters but got the error:

ERROR: Incompatible arguments to call service:
Too many arguments:
 * Given: [15, 22, 0, 40, 0, 30, 3, 0, 0, 0]
 * Expected: ['waypoint']
Provided arguments are:
 * 15 (type int)
 * 22 (type int)
 * 0 (type int)
 * 40 (type int)
 * 0 (type int)
 * 30 (type int)
 * 3 (type int)
 * 0 (type int)
 * 0 (type int)
 * 0 (type int)

Service arguments are: [waypoint.latitude waypoint.longitude waypoint.altitude waypoint.pos_acc waypoint.speed_to waypoint.hold_time waypoint.yaw_from waypoint.pan_angle waypoint.tilt_angle waypoint.waypoint_type]

the content of waypoint.msg

# latitude and longitude given in decimal degrees (* 10^7)
int32 latitude
int32 longitude

# height in mm
int32 altitude

# posAcc given in mm
uint16 pos_acc

# max speed to travel to waypoint in % of 100
uint8 speed_to

# time to stay at waypoint in ms
uint16 hold_time

# yawFrom angle given in degrees (* 1000)
int32 yaw_from

# camera pan and tilt angles during waypoint travel given in degrees (* 1000)
int32 pan_angle
int32 tilt_angle

# Type of Waypoint
uint8 waypoint_type

uint8 TYPE_NAV = 1
uint8 TYPE_CONDITION_YAW = 2
uint8 TYPE_CONDITION_CHANGE_ALT = 3
uint8 TYPE_TAKEOFF = 4

Then I used the following format but there is still an error:

>rosservice call /waypoint "{waypoint.latitude: 15, waypoint.longitude: 22, waypoint.speedTo: 0, waypoint.altitude: 40, waypoint.hold_time: 0, waypoint.yaw_from: 30, waypoint.pos_acc: 3, waypoint.pan_angle: 0,waypoint.tilt_angle: 0,waypoint_type: 1}"

ERROR: Incompatible arguments to call service:
No field name [waypoint.longitude]
Provided arguments are:
 * {'waypoint.longitude': 22, 'waypoint.speedTo': 0, 'waypoint.altitude': 40, 'waypoint.tilt_angle': 0, 'waypoint.pan_angle': 0, 'waypoint.latitude': 15, 'waypoint.hold_time': 0, 'waypoint.yaw_from': 30, 'waypoint_type': 1, 'waypoint.pos_acc': 3} (type dict)

Service arguments are: [waypoint.latitude waypoint.longitude waypoint.altitude waypoint.pos_acc waypoint.speed_to waypoint.hold_time waypoint.yaw_from waypoint.pan_angle waypoint.tilt_angle waypoint.waypoint_type]

So I think I should send all the data in one group as the type waypoint, but I don't know what to do...

Thanks