How to return a particular response in ROS service?

edit

I'm trying to return GetMap.srv through a python code.

The basic overlay of the process is as below,

• I have service = rospy.Service('static_map',GetMap,static_map_callback) an initialization as above, with the service name - static_map, and service type - GetMap.
• The static_map_callback function is being used to process requests and finally return a response.

The callback function is defined as below.

def static_map_callback(req):
    response = GetMap()
    response = map_params.map_callback()

    return response

The contents of GetMap.srv are,

# Get the map as a nav_msgs/OccupancyGrid
---

nav_msgs/OccupancyGrid map

• Using the callback, I want to return the Nav_msg/OccupancyGrid

It would be helpful if anyone could guide me on what changes the callback should undergo so that I can return the required response.

Or

How do I use the callback to return the relative GetMap content.

I did go through the tutorials of services, I'm unable to comprehend what changes are to be made with the

example: s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints) handle_add_two_ints function which represents the static_map_callback() in case of my code, to return the required response.

Thank you.