dynamic_service.py

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#! /usr/bin/python
#***********************************************************
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#* Author: Eitan Marder-Eppstein
#*
#* Based on actionlib dynamic_action.py
#* Modified by Christian Dornhege to dynamic_service.py
#***********************************************************
import roslib
import rospy
import sys

class DynamicService(object):
    def __init__(self, name):
        self.name     = name
        self.service  = self.load_service()
        self.request  = self.service._request_class
        self.response = self.service._response_class

    def load_service(self):
        srvclass = roslib.message.get_service_class(self.name)
        if srvclass is None:
            rospy.logfatal('Could not load service for: %s'%(self.name))
            sys.exit(1)
        return srvclass