#!/usr/bin/env python # this specifies the interpreter of this script
# ros-core-library for standard ros2-functionality (this is the one for python)
import rclpy
# use ROS-nodes
from rclpy.node import Node
# For the Service-Server: Using Trigger for simple status checking
from std_srvs.srv import Trigger
# create a Node "MyNode", that inherits all functionality from "Node"
class MyNode(Node):
def __init__(self):
# call super() in the constructor to initialize the Node object
# the parameter we pass is the node name
super().__init__('MyNodeName')
# Create a service that will handle status queries
name_service = '/user_def_service'
self.srv = self.create_service(Trigger, name_service, self.my_service_callback)
# Send log-message
self.get_logger().info(name_service+" Service Server Ready...")
def my_service_callback(self, request, response):
# set some response
response.success = True
# Construct response message
response.message = ('some text')
return response