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 $
 
 
 
NAME = 'add_two_ints_server'
 
# 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()