edu.wpi.rail.jrosbridge

Class Service

java.lang.Object

edu.wpi.rail.jrosbridge.Service

public class Service
extends Object

The Service object is responsible for calling or advertising a service in ROS.

Version:

November 26, 2014

Author:

Russell Toris - rctoris@wpi.edu

Constructor Summary

Constructors

Constructor and Description
Service(Ros ros, String name, String type) Create a ROS service with the given information.

Method Summary

Methods

Modifier and Type	Method and Description
void	advertiseService(CallServiceCallback cb) Registers as service advertiser.
void	callService(ServiceRequest request, ServiceCallback cb) Call this service.
ServiceResponse	callServiceAndWait(ServiceRequest request) Call the service and wait for a response.
String	getName() Get the name of this service.
Ros	getRos() Get the ROS connection handle for this service.
String	getType() Return the service type of this service.
boolean	isAdvertised() Check if the current service is advertising to ROS.
void	sendResponse(ServiceResponse response, String id) Send a service response.
void	unadvertiseService() Unregisters as service advertiser.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Service

public Service(Ros ros,
       String name,
       String type)

Create a ROS service with the given information.

Parameters:

ros - A handle to the ROS connection.

name - The name of the service (e.g., "/add_two_ints").

type - The service type (e.g., "rospy_tutorials/AddTwoInts").

Method Detail

getRos

public Ros getRos()

Get the ROS connection handle for this service.

Returns:

The ROS connection handle for this service.

getName

public String getName()

Get the name of this service.

Returns:

The name of this service.

getType

public String getType()

Return the service type of this service.

Returns:

The service type of this service.

isAdvertised

public boolean isAdvertised()

Check if the current service is advertising to ROS.

Returns:

If the current service is advertising to ROS.

callService

public void callService(ServiceRequest request,
               ServiceCallback cb)

Call this service. The callback function will be called with the associated service response.

Parameters:

request - The service request to send.

cb - The callback used when the associated response comes back.

sendResponse

public void sendResponse(ServiceResponse response,
                String id)

Send a service response.

Parameters:

response - The service response to send.

id - The ID of the response (matching that of the service call).

advertiseService

public void advertiseService(CallServiceCallback cb)

Registers as service advertiser.

unadvertiseService

public void unadvertiseService()

Unregisters as service advertiser.

callServiceAndWait

public ServiceResponse callServiceAndWait(ServiceRequest request)

Call the service and wait for a response. This is a blocking call and will only return once rosbridge returns the service response. For an asynchronous version of this call, see the callService method.

Parameters:

request - The service request to send.

Returns:

The corresponding service response from ROS.