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Service

Learn by doing

Basic

  • Write three service node for standard srv types(empty_service.[cpp|py], bool_service.[cpp|py], trigger_service.[cpp|py]) and try invoking them with
rosservice call <service_name> std_srvs/Empty
rosservice call <service_name> std_srvs/SetBool true
rossservice call <service_name> std_srvs/Trigger

Advanced

Ask yourself

  • Difference between std_srv/Empty and std_srv/Trigger
  • When to use service over publisher?