rospy.impl.tcpros_service.Service

Class Service

object --+ | service._Service --+ | ServiceImpl --+ | Service

Declare a ROS service. Service requests are passed to the specified handler.

Service Usage:

s = Service('getmapservice', GetMap, get_map_handler)

Instance Methods

__init__(self, name, service_class, handler, buff_size=65536)
ctor.

source code

handle(self, transport, header)
Process incoming request. (Inherited from rospy.impl.tcpros_service.ServiceImpl)

source code

shutdown(self, reason='')
Stop this service (Inherited from rospy.impl.tcpros_service.ServiceImpl) source code

spin(self)
Let service run and take over thread until service or node shutdown. (Inherited from rospy.impl.tcpros_service.ServiceImpl)

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

Inherited from object: __class__

Method Details

init(self, name, service_class, handler, buff_size=65536)
(Constructor)

source code

ctor.

Parameters:

name - service name, ``str``
service_class - Service definition class
handler (fn(req)->resp) - callback function for processing service request. Function takes in a ServiceRequest and returns a ServiceResponse of the appropriate type. Function may also return a list, tuple, or dictionary with arguments to initialize a ServiceResponse instance of the correct type.
If handler cannot process request, it may either return None, to indicate failure, or it may raise a rospy.ServiceException to send a specific error message to the client. Returning None is always considered a failure.
buff_size (int) - size of buffer for reading incoming requests. Should be at least size of request message

Overrides: object.__init__

Class Service

__init__(self, name, service_class, handler, buff_size=65536) (Constructor)

init(self, name, service_class, handler, buff_size=65536)
(Constructor)