Relation between Services and Nodes

asked 2014-08-11 12:43:41 -0600

ROSCMBOT
651 ●45 ●53 ●59

Hello,

I have a very simple question. What's the relation between services and nodes? Can we say services are functions/methods defined in a node. For example, according to this tutorial:

http://wiki.ros.org/ROS/Tutorials/Und...

when I'm running the turtlesim_node node, here is the list of active services:

/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level

The question is where are all these services defined? Where can I find their codes?

Thanks

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answered 2014-08-11 13:17:05 -0600

dornhege

31395 ●134 ●284 ●498

updated 2014-09-22 19:31:47 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

Yes, services are functions in a node that can be called remotely.

Therefore they are defined in the source code of the respective node.

You can find out which node is running a service by using rosservice info SERVICE_NAME

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answered 2014-08-11 13:26:55 -0600

bvbdort

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services are declared in .srv and functionality defined in .cpp

refrer .srv files for more info.

check srv folder for services declared. turtlesim code

in turtle.cpp

  set_pen_srv_              = nh_.advertiseService("set_pen", &Turtle::setPenCallback, this);
  teleport_relative_srv_ = nh_.advertiseService
                                      ("teleport_relative", &Turtle::teleportRelativeCallback, this);
  teleport_absolute_srv_ = nh_.advertiseService
                                      ("teleport_absolute", &Turtle::teleportAbsoluteCallback, this);

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