service state request callback function, error: Invalid number of arguments

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Hi,

I created a service with the following definition and i called it navigation.srv:

float64 srvtype
float64 wayPointX
float64 wayPointY
float64 wayPointZ
float64 LDFlag
---
std_msgs/String navResponse

Then I used the service state machine provided from smach and following the tutorials:

import roslib;  
import rospy
import actionlib 
import smach
import smach_ros
import time
from std_msgs.msg import String
from sensor_msgs.msg import RegionOfInterest
from geometry_msgs.msg import PoseStamped 
from kuri_msgs.srv import navigation

from kuri_msgs.msg import Object
from sensor_msgs.msg import NavSatFix
from nav_msgs.msg import Odometry
from smach_ros import ServiceState

 FixPoseX = 0   
 FixPoseY = 0 
 FixPoseZ = 10  


class Ch1():
 rospy.init_node('ch1_state_machine')
 sm = smach.StateMachine(outcomes=['Done'])

 with sm:

    def exploration_request_cb (userdata,request):
        exploration_request = navigation().Request  
        exploration_request.srvtype=1
        exploration_request.wayPointX = FixPoseX
        exploration_request.wayPointY = FixPoseY
        exploration_request.wayPointZ = FixPoseZ
        exploration_request.LDFlag = 0
        return exploration_request



        smach.StateMachine.add('EXPLORATION',
                ServiceState('controller_service',
                navigation,
                request  = exploration_request_cb),
                       transitions={'succeeded':'MARKER_DETECTION' , 'aborted':'Done', 'preempted':'EXPLORATION'})

    ### MORE STATES HERE

 sis = smach_ros.IntrospectionServer('server_name', sm, '/SM_ROOT')
     sis.start()

     # Execute SMACH plan
     outcome = sm.execute()
     rospy.spin()
     sis.stop()


if __name__ == '__main__':
   Ch1()

The Service the I am using to be called ( I am also having a problem in sending back a response is as follow)

when I run the state machine it says that it is waiting for the service then I run the service the output is the following:

 import roslib
 import rospy
 from kuri_msgs.msg import *
 from kuri_msgs.srv import navigation
 from kuri_msgs.srv import navigationResponse
 from geometry_msgs.msg import PoseStamped 
 from nav_msgs.msg import Odometry 

 class ControllerService:
         def __init__(self):
               print 'Starting Service 1'
               self.s = rospy.Service('controller_service', navigation , self.pos_vel_controller)   

        def pos_vel_controller(self , req):
            self.landFlagDone = req.LDFlag 
                if req.srvtype == 1 :
                         x = req.wayPointX
             y  = req.wayPointY
                 z = req.wayPointZ
             if self.landFlagDone >0:
#######################3 How to return a response here ???????????????????
                 return 'succeeded'
             else: 
                    return 'aborted'


def main(args):
  rospy.init_node('Controller_Service')
  Controller = ControllerService()
  try:
     rospy.spin()
 except KeyboardInterrupt:
    print "Shutting down"

if __name__ == '__main__':
    main(sys.argv)

In the service terminal Killed

In the state machine terminal

 TypeError: Invalid number of arguments, args should be ['srvtype', 'wayPointX', 'wayPointY', 'wayPointZ', 'LDFlag'] args are(<function exploration_request_cb at 0x7f0f3fae6140>,)

What is the mistake in this code and how can I fix it ?