Ongun Kanat's profile - activity

I have a ROS Service GripperState

---
int32 gripperState
int32 paddleState

And In my main.cpp file I have this line since I need gripper data from robot needs to be passed to service

ros::ServiceServer gripperService = 
    n.advertiseService<my_robot::GripperState::Request, my_robot::GripperState::Response>
    ("GripperState",boost::bind(&gripperControl, node->getGripper(), 
    (my_robot::GripperState::Request &) _2,  (my_robot::GripperState::Response &) _3));

In GripperServer.cpp I have the definition of method gripperControl

bool gripperControl(ArGripper *gripper, my_robot::GripperState::Request &req, my_robot::GripperState::Response &res)
{
    int32_t gSt = gripper->getGripState();
    int32_t pSt = gripper->getPaddleState();
    ROS_INFO("GripperSt : %d, PaddleSt: %d", gSt, pSt);
    res.gripperState = 5;
    res.paddleState = 10;
    return true;
}

However it compiles. It doesn't work since boost doesn't pass the placeholders _2 and _3 as references.(I think it creates a copy of each parameter).

Is there any way to make this work?