ROS2 Service Node (Python) - Ros-ros2 Typing CST Test
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ROS2 Service Node (Python) — Ros-ros2 Code
A ROS2 service that responds to requests with a greeting message.
import rclpy
from rclpy.node import Node
from example_interfaces.srv import AddTwoInts
class MinimalService(Node):
def __init__(self):
super().__init__('minimal_service')
self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
def add_two_ints_callback(self, request, response):
response.sum = request.a + request.b
self.get_logger().info('Incoming request: a=%d, b=%d' % (request.a, request.b))
return response
def main(args=None):
rclpy.init(args=args)
node = MinimalService()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()Ros-ros2 Language Guide
ROS (Robot Operating System) and ROS2 are open-source frameworks for robot software development. They provide libraries, tools, and conventions to simplify programming, communication, and control in robotics, supporting modularity, real-time systems, and hardware abstraction.
Primary Use Cases
- ▸Robot perception, navigation, and control
- ▸Multi-robot coordination and communication
- ▸Simulation and testing of robotic systems
- ▸Integration with sensors, actuators, and middleware
- ▸Development of autonomous systems and AI robotics
Notable Features
- ▸Node-based modular architecture
- ▸Communication via topics, services, and actions
- ▸Hardware abstraction for diverse robot platforms
- ▸Simulation and visualization integration
- ▸Cross-platform support in ROS2 (Linux, Windows, macOS)
Origin & Creator
ROS was created by the Stanford AI Lab and Willow Garage around 2007-2009. ROS2 development started by Open Robotics in 2014 to address ROS1 limitations in real-time, security, and cross-platform support.
Industrial Note
ROS2 is increasingly adopted in industrial automation, autonomous vehicles, and robotics middleware due to its support for real-time deterministic systems and secure communication.