service has not been advertised

asked 2017-01-12 07:03:46 -0500

RSA_kustar gravatar image

updated 2017-01-15 04:10:54 -0500

Hi,

I created the a service and I implemented the service client but the service is not being advertised I could not know what is the source of the problem. I tried the following :

file 1 name : positionEstimationServer.cpp

#include "ros/ros.h"
#include <ros/package.h>
#include <tf/tf.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h> 
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/time_synchronizer.h> 
#include <message_filters/sync_policies/approximate_time.h>

#include "pkg2_msgs/PoseEsti.h"
#include "pkg2_msgs/PES.h" // This is the service 
#include <pkg1_msgs/Object.h>

class PositionEstimationServer
  {
      typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo, nav_msgs::Odometry> MySyncPolicy;

      protected:

      pkg2_msgs::PoseEsti goalCam;
      pkg1_msgs::Object goalW;
      message_filters::Subscriber<sensor_msgs::Image> *img_sub_;
      message_filters::Subscriber<sensor_msgs::CameraInfo> *camera_info_sub_;
      message_filters::Subscriber<nav_msgs::Odometry> *uav_odom_sub_;
      message_filters::Synchronizer<MySyncPolicy> *sync;
      bool flag_done ;

   public:
       ros::NodeHandle nh_;

       PositionEstimationServer(std::string name)
           {
                std::cout << "Constructor 1 " << std::endl  << std::flush ;
                this->flag_done = false;
                img_sub_  = new message_filters::Subscriber<sensor_msgs::Image>(nh_, "/downward_cam/camera/image", 10);
                 camera_info_sub_ = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh_, "/downward_cam/camera/camera_info", 10);
                 uav_odom_sub_ = new message_filters::Subscriber<nav_msgs::Odometry>(nh_, "/mavros/local_position/odom", 10);
                 std::cout << "declared Subscriber " << std::endl  << std::flush ;

                 ros::ServiceServer service = nh_.advertiseService("poseEstimationServer",&PositionEstimationServer::poseEstimateFunction, this);
    std::cout << "started the service" << std::endl  << std::flush ;

    sync = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(1000), *img_sub_, *camera_info_sub_, *uav_odom_sub_);
    sync->registerCallback(boost::bind(&PositionEstimationServer::imageCallback, this, _1, _2, _3));
    BaseToCamera.setOrigin(tf::Vector3(0.0, 0.0, -0.045l));
    BaseToCamera.setRotation(tf::Quaternion(0.707, -0.707, 0.000, -0.000));
}


~PositionEstimationServer(void)
{
}




bool poseEstimateFunction(pkg2_msgs::PES::Request  &req,
                            pkg2_msgs::PES::Response &res)
{
    std::cout << "waiting for goal" << std::endl  << std::flush ;

    goalCam.x = req.uv.x ;
    goalCam.y = req.uv.y ;
    while (ros::ok()) {
        ros::spinOnce();
        loopRate.sleep();
        if (this->flag_done)
        {
            std::cout << "Done" << std::endl << std::flush ;
            res.obj = goalW;
            return true ;
        }
        else
        {
            //std::cout << "Continue" << std::endl << std::flush ;
          return false;
            continue ;
        }

    }
}


//call back, for processing
void imageCallback(const sensor_msgs::ImageConstPtr& img,
                                       const sensor_msgs::CameraInfoConstPtr& cam_info,
                                       const nav_msgs::OdometryConstPtr& odom
                                       )
{

    std::cout << "Image Call Back" << std::endl << std::flush ;
    //Processing and filling the goalW
    flag_done = true ;
    }
};


 int main(int argc, char** argv)

{
ros::init(argc, argv, "poseEstimationServer");
PositionEstimationServer poseEstimatServerObject(ros::this_node::getName());
ros::spin();
return 0;
 }

The Service that has been created as the following:

pkg2_msgs/PoseEsti uv
---
pkg1_msgs/Object obj

The client file name: positionEstimationClient.cpp as follows:

#include "ros/ros.h"
#include "pkg2_msgs/PES.h" 
#include "pkg2_msgs/PoseEsti.h"
#include "pkg1_msgs/Object.h"
#include <cstdlib>

 int main(int argc, char **argv)
  {
     ros::init(argc, argv, "poseEstimationClient");
     ros::NodeHandle n;
     ros::service::waitForService("poseEstimationServer");
     ros::ServiceClient client = n.serviceClient<pkg2_msgs::PES>("poseEstimationServer");
     pkg2_msgs::PES srv;
     srv.request.uv.x = 100;
     srv.request.uv.y = 100;
     pkg1_msgs::Object w ;

     std::cout << "calling the servise " << client.call(srv) << std::endl  << std::flush ;
     while (ros::ok())
      {
          if (client.call(srv))
             {
                 w =  srv.response.obj ;
                //ROS_INFO(srv.response.obj.pose.pose.position.x);
             }
         else
           {
               ROS_ERROR("Failed to call service position Estimation");
              //return 1 ...
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Comments

What is the output of rosservice list?

gvdhoorn gravatar imagegvdhoorn ( 2017-01-15 04:49:09 -0500 )edit