ros python service server

1#!/usr/bin/env python
2
3from beginner_tutorials.srv import AddTwoInts,AddTwoIntsResponse
4import rospy
5
6def handle_add_two_ints(req):
7    print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
8    return AddTwoIntsResponse(req.a + req.b)
9
10def add_two_ints_server():
11    rospy.init_node('add_two_ints_server')
12    s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
13    print "Ready to add two ints."
14    rospy.spin()
15
16if __name__ == "__main__":
17    add_two_ints_server()

1#!/usr/bin/env python
2
3import sys
4import rospy
5from beginner_tutorials.srv import *
6
7def add_two_ints_client(x, y):
8    rospy.wait_for_service('add_two_ints')
9    try:
10        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts)
11        resp1 = add_two_ints(x, y)
12        return resp1.sum
13    except rospy.ServiceException, e:
14        print "Service call failed: %s"%e
15
16def usage():
17    return "%s [x y]"%sys.argv[0]
18
19if __name__ == "__main__":
20    if len(sys.argv) == 3:
21        x = int(sys.argv[1])
22        y = int(sys.argv[2])
23    else:
24        print usage()
25        sys.exit(1)
26    print "Requesting %s+%s"%(x, y)
27    print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))
28