server_connection_header.py

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#!/usr/bin/env python
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# Revision $Id: add_two_ints_server 3804 2009-02-11 02:16:00Z rob_wheeler $

## Extended version of add_two_ints_server demo that shows how
## to access connection header information

PKG = 'rospy_tutorials' # this package name
NAME = 'add_two_ints_server'

import roslib; roslib.load_manifest(PKG) 

# import the AddTwoInts service
from rospy_tutorials.srv import *
import rospy 

def add_two_ints(req):
    print "Request from %s"%req._connection_header['callerid']
    if 'cookies' in req._connection_header:
        print "Request gave me %s cookies"%req._connection_header['cookies']
    print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
    return AddTwoIntsResponse(req.a + req.b)

def add_two_ints_server():
    rospy.init_node(NAME)
    s = rospy.Service('add_two_ints', AddTwoInts, add_two_ints)

    # spin() keeps Python from exiting until node is shutdown
    rospy.spin()

if __name__ == "__main__":
    add_two_ints_server()