ROS Service Server

02_01_ros_service_server.ipynb
Running the cell code

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from __future__ import print_function
from rospy_tutorials.srv import AddTwoInts,AddTwoIntsResponse
import rospy

Import print_function from __future__ module for Python3 compatibility
Import AddTwoInts, AddTwoIntsResponse from rospy_tutorials.srv module
Import rospy modules

def handle_add_two_ints(req):
    print("Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b)))
    return AddTwoIntsResponse(req.a + req.b)

Create handle_add_two_ints() function
Output req.a, req.b, req.a + req.b
Return instances of req.a + req.b in AddTwoIntsResponse

def add_two_ints_server():
    rospy.init_node('add_two_ints_server')
    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
    print("Ready to add two ints.")
    rospy.spin()

Create add_two_ints_server() function
Create add_two_ints_server Node
Create add_two_ints Service

add_two_ints_server()

Create add_two_ints_server() function