rosbridge_library.capabilities.advertise_service module

class rosbridge_library.capabilities.advertise_service.AdvertiseService(protocol)

Bases: Capability

advertise_service(message)

advertise_service_msg_fields = ((True, 'service', <class 'str'>), (True, 'type', <class 'str'>))

services_glob = None

class rosbridge_library.capabilities.advertise_service.AdvertisedServiceHandler(service_name, service_type, protocol)

Bases: object

graceful_shutdown()

Signal the AdvertisedServiceHandler to shutdown.

Using this, rather than just node_handle.destroy_service, allows us time to stop any active service requests, ending their busy wait loops.

async handle_request(req, _res)

handle_response(request_id, res)

Handle service response.

Called by the ServiceResponse capability to handle a service response from the external client.

id_counter = 1

next_id()