Add two test service nodes with clients

ros/catkin_ws/src/CMakeLists.txt

+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

ros/catkin_ws/src/grafchart/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(grafchart)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  TestService1.srv
+  TestService2.srv
+  DispatchService.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES grafchart
+#  CATKIN_DEPENDS rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(grafchart
+#   src/${PROJECT_NAME}/grafchart.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(grafchart ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(grafchart_node src/grafchart_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(grafchart_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(grafchart_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS grafchart grafchart_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_grafchart.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

ros/catkin_ws/src/grafchart/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>grafchart</name>
+  <version>0.0.0</version>
+  <description>A grafchart ros node acting as a bridge to jgrafchart connecting socket values. A dispatcher that listens to the grafchart ros node and invokes arbitrary services implemented as function calls within the dispatcher.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="mathias.haage@cs.lth.se">mathias</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/grafchart</url> -->
+  <url type="repository">https://git.cs.lth.se/mathias/grafchart_utils</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <run_depend>message_runtime</run_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

ros/catkin_ws/src/grafchart/scripts/testclient1.py

+#!/usr/bin/env python
+
+import sys
+import rospy
+from grafchart.srv import *
+
+def string2string_client(a):
+    rospy.wait_for_service('string2string')
+    try:
+        string2string = rospy.ServiceProxy('string2string', TestService1)
+        resp1 = string2string(a)
+        return resp1.b
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s [a]"%sys.argv[0]
+
+if __name__ == "__main__":
+    if len(sys.argv) == 2:
+        a = sys.argv[1]
+    else:
+        print usage()
+        sys.exit(1)
+    print "Requesting %s"%(a)
+    print "%s = %s"%(a, string2string_client(a))

ros/catkin_ws/src/grafchart/scripts/testclient2.py

+#!/usr/bin/env python
+
+import sys
+import rospy
+from grafchart.srv import *
+
+def add_two_ints_client(x, y):
+    rospy.wait_for_service('add_two_ints')
+    try:
+        add_two_ints = rospy.ServiceProxy('add_two_ints', TestService2)
+        resp1 = add_two_ints(x, y)
+        return resp1.sum
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+def usage():
+    return "%s [x y]"%sys.argv[0]
+
+if __name__ == "__main__":
+    if len(sys.argv) == 3:
+        x = int(sys.argv[1])
+        y = int(sys.argv[2])
+    else:
+        print usage()
+        sys.exit(1)
+    print "Requesting %s+%s"%(x, y)
+    print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))

ros/catkin_ws/src/grafchart/scripts/testservice1.py

+#!/usr/bin/env python
+
+from grafchart.srv import *
+import rospy
+
+def handle_string2string(req):
+    print "Returning [Hello %s]"%(req.a)
+    return TestService1Response("Hello " + req.a)
+
+def string2string_server():
+    rospy.init_node('test_service_1')
+    s = rospy.Service('string2string', TestService1, handle_string2string)
+    print "Ready to annotate string."
+    rospy.spin()
+
+if __name__ == "__main__":
+    string2string_server()

ros/catkin_ws/src/grafchart/scripts/testservice2.py

+#!/usr/bin/env python
+
+from grafchart.srv import *
+import rospy
+
+def handle_add_two_ints(req):
+    print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
+    return TestService2Response(req.a + req.b)
+
+def add_two_ints_server():
+    rospy.init_node('test_service_2')
+    s = rospy.Service('add_two_ints', TestService2, handle_add_two_ints)
+    print "Ready to add two ints."
+    rospy.spin()
+
+if __name__ == "__main__":
+    add_two_ints_server()

ros/catkin_ws/src/grafchart/srv/DispatchService.srv

+string request
+---
+string response

ros/catkin_ws/src/grafchart/srv/TestService1.srv

+string a
+---
+string b

ros/catkin_ws/src/grafchart/srv/TestService2.srv

+int64 a
+int64 b
+---
+int64 sum