How to pass service parameters in ROSLib.js

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The solution is:

1. Simpler ROS Message representation:

   geometry_msgs/Point pick
   geometry_msgs/Point place
   int16 speed
   bool arm
   ---
   bool success
   

2. Function Name different from callService to remove ambiguity, for example: callService_:

    import { Ros, Param, Message, Topic, Service, ServiceRequest } from "roslib";
   
    export default class ROSInterface {
   
      constructor() {
   
        this.ros = new Ros({
          url: "ws://localhost:9090",
        });
      }
   
      createService=(service_name, service_type) =>{
        let service = new Service({
          ros: this.ros,
          name: service_name,
          serviceType: service_type,
        });
        return service;
      }
   
     requestService=(params) =>{
        let request = new ServiceRequest(params);
        return request;
      }
   
   
      callService_ = (service_name, service_type, params) => {
        const srv = this.createService(service_name, service_type);
        const req = this.requestService(params);
        srv.callService(
          req,
          (result) => {
            console.log(result);
          },
          (error) => {
            console.log(error);
          }
        );
       }
    }
   

3. Finally the parameters can be passed as object with children objects:

   const params_ = {
   pick: {x: 1, y: 2, z: 3},
   place: {x: -1, y: -2, z: -3},
   speed: 10,
   arm: false,
   };
   ROSInterface.callService_(service_name, service_type, params_);