server_connection_header.py
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00001 #!/usr/bin/env python
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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 Sun Mar 20 2016 04:51:24