ROS Service Creation error

edit

Thank you it worked. Now when I launch the server.cpp node I could able to see the service in rosnode info or service list but if i put the service inside the main node.cpp file I cannot see the service being advertised

#include <ros ros.h=""> #include <cstdio> // for FILE defn #include <iostream> // for cout, etc #include <time.h> // for clock_t and clock #include <list> #include <string> #include <cstring> #include <sensor_msgs jointstate.h=""> #include "turtlesim/Velocity.h" #include <biclops homingsequence.h="">

using namespace std; using namespace ros;

#include <biclops.h> #include <pmdutils.h>

// Defines which axes we want to use. int axisMask=Biclops::PanMask + Biclops::TiltMask;;

// Pointers to each axis (populated once controller is initialized). PMDAxisControl *panAxis = NULL; PMDAxisControl *tiltAxis = NULL;

// THE interface to Biclops Biclops biclops_obj;

ros::Subscriber key_sub; ros::Publisher joint_pub; sensor_msgs::JointState joint_state;

bool Homing(biclops::HomingSequence::Request &req, biclops::HomingSequence::Request &res){

ROS_INFO("Performing Homing Sequence");
//biclops.Initialize(&req.path);
return true;

}

//---------------------------------------------------------------------------- int main (int argc, char *argv[]) {

ros::init(argc,argv,"Biclops"); ROS_INFO("node creation"); ros::NodeHandle nh; ros::Rate loop_rate(10);

  // ROS_INFO("ARGV : %s ",argv[1]);
argv[1]="/home/yeshi/catkin_ws/src/biclops/BiclopsDefault.cfg";

ROS_INFO( "\n\nBasic Biclops Running Example\n\n" );
//Initializing

    cout<<"Initialization Routine"<<biclops_obj.Initialize(argv[1])<<endl;

if (!biclops_obj.Initialize(argv[1]))
{

    ROS_INFO( "Failed to open Biclops Communication\n" );
    ROS_INFO( "Press Enter key to terminate...\n" );
    getchar();
    //return 0;
}
else
        ROS_INFO( "Succeed to open Biclops Communication\n" );





//Homing sequence Service
ros::ServiceServer service =nh.advertiseService("homing_sequence",Homing);



// Get shortcut references to each axis.
panAxis = biclops_o
while(ros::ok() ){

spin();


loop_rate.sleep();

}


return 0;

}

What am I missing. I made the same changes as needed for the server.cpp file in the CMakeLists.txt. Please help me