server_connection_header.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 #
00034 # Revision $Id: add_two_ints_server 3804 2009-02-11 02:16:00Z rob_wheeler $
00035 
00036 ## Extended version of add_two_ints_server demo that shows how
00037 ## to access connection header information
00038 
00039 NAME = 'add_two_ints_server'
00040 
00041 # import the AddTwoInts service
00042 from rospy_tutorials.srv import *
00043 import rospy 
00044 
00045 def add_two_ints(req):
00046     print "Request from %s"%req._connection_header['callerid']
00047     if 'cookies' in req._connection_header:
00048         print "Request gave me %s cookies"%req._connection_header['cookies']
00049     print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
00050     return AddTwoIntsResponse(req.a + req.b)
00051 
00052 def add_two_ints_server():
00053     rospy.init_node(NAME)
00054     s = rospy.Service('add_two_ints', AddTwoInts, add_two_ints)
00055 
00056     # spin() keeps Python from exiting until node is shutdown
00057     rospy.spin()
00058 
00059 if __name__ == "__main__":
00060     add_two_ints_server()


rospy_tutorials
Author(s): Ken Conley
autogenerated on Thu Jun 6 2019 20:20:11