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Create Your Own Service

Description: how to create your own service

Keywords: rocon concert solution service

Tutorial Level: BEGINNER

Overview

Concert Service is a programmed workflow in a multi-robot-device human ecosystem. This tutorial guides how to create your own service with roslaunch.

Service

A concert service generally consists of the following files.

.service

xml format of service meta information.

   1 name: <service name>
   2 description: <service description>
   3 author: <service author>
   4 priority: 1-10000 # Priority constants are set in scheduler_msgs.Request.XXX_PRIORITY. This should reflect high priority.
   5 launcher_type: <service launcher type(roslaunch, shadow, or etc)>
   6 launcher: <resource tuple to start service instance> #service manager parses this info based launcher_type and start service instance.
   7 icon: <package_name>/<icon>
   8 interactions: <package_name>/<interactions>
   9 parameters: <package_name>/<parameters>

Example Services

Parameters

Service parameters are loaded in rosparam service namespace that can be used to configure service itself, and interaction parameters. /services/<service_name>/ by default.

Example Parameters

Interactions

Please refer to the Rocon Interactions Tutorial to form interactions for service.

TODO: Describe how to use service param as interactions param

Export

The concert service manager collects services via package export. Please add relative path to service file with concert_service tag to package.xml. Check concert_service_teleop as example.

   1 <package>
   2   ...
   3   <export>
   4     <concert_service>relative/path_to/my_service.service</concert_service>
   5   </export>
   6 </package>

Add Service Into Your Solution

Once service is ready, you can customise solution configurations to use your service. Please refer to Customise Service Configuration Tutorial to add your service. Check chatter_concert and turtle_concert as example.

What's Next?


2019-11-16 12:45