Service script in python to capture an image and send response to client

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Hi all,

I have a robot arm with a camera mounted on the tcp. After moving the tcp to a particular position I want to capture an image from the camera. I have written a image server script but I am having problems like when I move the camera to the exact same location I get slightly different images. I guess there is some problem with my image server script may be with the rate the subscriber is running at or something. Please could anyone post an example script in python to properly write an image capture server so that I get an image when i call the service client from my main ros node.

Cheers,