ping.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('rfnserver')
import rospy
from rfnserver import RFNServer

class PingServer:
    def __init__(self):
        self.server = RFNServer("ping_topic", self.ping_function)
        # For error checking, each of these calls will return True upon success
        #   and False upon failure.
        self.server.add_frame("../frames/pinging.yaml")
        self.server.add_lexical_unit("../lu/ping_pinging.yaml")
        self.server.register_with_frame("pinging")
        self.server.start()

    def ping_function(self, filled_semantic_frame):
        rospy.loginfo("Ping!")
        self.server.set_succeeded()



def main():
    rospy.init_node('ping_node')
    server = PingServer()
    rospy.spin()

if __name__ == '__main__':
    main()