create service on android

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Hello!

I'm trying to create a service with rosjava on Android. However, I need to use an old rosjava version since I need the support for actionlib.

So, when I create the service server in my app, I can even see it with rxgraph on the linux machine running the roscore. However, as soon as i try to call the service via command line with "rosservice call /callme" (/callme is the name of the service) I receive following error messages:

Traceback (most recent call last): File "/opt/ros/electric/ros/bin/rosservice", line 46, in <module> rosservice.rosservicemain() File "/opt/ros/electric/stacks/ros_comm/tools/rosservice/src/rosservice.py", line 734, in rosservicemain _rosservice_cmd_call(argv) File "/opt/ros/electric/stacks/ros_comm/tools/rosservice/src/rosservice.py", line 586, in _rosservice_cmd_call service_class = get_service_class_by_name(service_name) File "/opt/ros/electric/stacks/ros_comm/tools/rosservice/src/rosservice.py", line 357, in get_service_class_by_name service_type = get_service_type(service_name) File "/opt/ros/electric/stacks/ros_comm/tools/rosservice/src/rosservice.py", line 141, in get_service_type return get_service_headers(service_name, service_uri).get('type', None) File "/opt/ros/electric/stacks/ros_comm/tools/rosservice/src/rosservice.py", line 113, in get_service_headers return roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048) File "/opt/ros/electric/ros/core/roslib/src/roslib/network.py", line 367, in read_ros_handshake_header raise ROSHandshakeException("connection from sender terminated before handshake header received. %s bytes were received. Please check sender for additional details."%b.tell()) roslib.network.ROSHandshakeException: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.

The code is: package com.example.sandbox_ros;

import org.ros.internal.node.service.ServiceException;
import org.ros.internal.node.service.ServiceResponseBuilder;
import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.service.myMessages.onlyReturn;

import android.util.Log;

public class TestServiceServer implements NodeMain {

    private final String TAG = "TestServiceServer";

    @Override
    public void onShutdown(Node arg0) {
        // TODO Auto-generated method stub

    }

    @Override
    public void onShutdownComplete(Node arg0) {
        // TODO Auto-generated method stub

    }

    @Override
    public void onStart(Node node) {

        /*ServiceServer<org.ros.message.std_msgs.Empty, org.ros.message.std_msgs.String> server = */
        node.newServiceServer("/callme", "myMessages/onlyReturn", new ServiceResponseBuilder<onlyReturn.Request, onlyReturn.Response>() {

            @Override
            public onlyReturn.Response build(onlyReturn.Request request) throws ServiceException {

                Log.i(TAG, "request: " + request.intput.data);

                onlyReturn.Response response = new onlyReturn.Response();
                response.output.data = "Thank you for calling! :)";

                Log.i(TAG, "I have been called!");

                return response;
            }

        });
    }

    @Override
    public GraphName getDefaultNodeName() {
        // TODO Auto-generated method stub
        return null;
    }

}

and the node is created with:

NodeConfiguration configuration = NodeConfiguration.newPublic(androidhostIP, uriOfROSMachine);
Date date = new Date();
configuration.setNodeName("srs_ui_loc_start" + "_" + date.getTime());

TestServiceServer testNode = new TestServiceServer();

NodeMainExecutor runner = DefaultNodeMainExecutor.newDefault();

runner.execute(testNode, configuration);

I know, I'm using something old, but I though, maybe I'm not alone? :) Or maybe someone remembers that problem from former times?