ros-sharp Service call

asked 2019-08-01 14:38:51 -0500

jernejp
13 ●2 ●2 ●5

updated 2019-08-02 11:43:02 -0500

jayess
6155 ●26 ●85 ●92

I created sample ros service to add 2 numbers. I put the code on git

I can test service with:

rosservice call /add_numbers [1,2]

and get response

sum: 3.0

what is OK,

But don't know how to do the same call with ros-sharp over rosbridge.

I try the only sample from here and it work OK but only for GetParamRequest

// Service Call:
rosSocket.CallService<rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));

How to change this line to call my add_numbers???

answered 2019-08-02 11:10:00 -0500

marcoarruda
541 ●13 ●12 https://www.linkedin.c...

updated 2019-08-02 13:27:01 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Hello @jernejp,

I'm not an expert on ROS#, but I found an example in their repository using a console socket:

Launching a node, consuming a topic and calling a service

https://github.com/siemens/ros-sharp/...

Line 58: service is called

https://github.com/siemens/ros-sharp/...

rosSocket.CallService<rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));

Line 78: handling service response

https://github.com/siemens/ros-sharp/...

private static void ServiceCallHandler(rosapi.GetParamResponse message)
{
        Console.WriteLine("ROS distro: " + message.value);
}

I hope it can help you.

edit flag offensive delete link

Comments

IIUC, the code you show tests whether the JsonConvert.SerializeObject(..) function correctly transforms ServiceCall instances to json fragments. It does not show how to invoke a service call.

as far as I know, ROS services are asynchronous

services are not asynchronous. They are synchronous. Actions can be both.

gvdhoorn ( 2019-08-02 11:39:20 -0500 )edit

Thanks for the observation! As I said, not an expert on ROS#, but thought it could give a clue. Let me fix the wrong guesses on the answer :) The confusion about services.. we handle the response on a callback, like a subscriber, but indeed they are synchronous. Thanks

marcoarruda ( 2019-08-02 12:45:33 -0500 )edit

This still seems incorrect:

Then, you must have a response string json = JsonConvert.SerializeObject(comm);

json is not the response, it's the json-ified version of the request ..

Edit: thanks for the edit. This seems like something the OP could use.

gvdhoorn ( 2019-08-02 12:51:26 -0500 )edit

add a comment

1 Answer

Launching a node, consuming a topic and calling a service

Comments

Question Tools

Stats

Related questions

ros-sharp Service call edit

1 Answer

Launching a node, consuming a topic and calling a service

Comments

Question Tools

Stats

Related questions

ros-sharp Service call