ROS2 Service Server Request
This node is a generic service server that provides interface for a ROS service. The request/response fields of the service are parsed and are made accessible via the node based on the service specified from messagePackage, messageSubfolder, messageName. The server receives a request (accessible from the node outputs). To receive the response this node should be connected to a OgnROS2ServiceServerResponse node through the serverHandle input. The OgnROS2ServiceServerResponse node is responsible for providing the response.
Installation
To use this node enable omni.isaac.ros2_bridge in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Context (inputs:context) |
|
ROS2 context handle, Default of zero will use the default global context |
0 |
Metadata |
displayGroup = parameters |
||
Exec In (inputs:execIn) |
|
The input execution port |
None |
Message Name (inputs:messageName) |
|
Service name (e.g.: AddTwoInts for example_interfaces/srv/AddTwoInts) |
|
Metadata |
displayGroup = parameters |
||
Message Package (inputs:messagePackage) |
|
Package name (e.g.: example_interfaces for example_interfaces/srv/AddTwoInts) |
|
Metadata |
displayGroup = parameters |
||
Message Subfolder (inputs:messageSubfolder) |
|
Subfolder name (e.g.: srv for example_interfaces/srv/AddTwoInts) |
srv |
Metadata |
displayGroup = parameters |
||
Node Namespace (inputs:nodeNamespace) |
|
Name of ROS2 Node, prepends any topic published/subscribed by the node name |
|
Metadata |
displayGroup = parameters |
||
Qos Profile (inputs:qosProfile) |
|
QoS profile config |
|
Metadata |
displayGroup = parameters |
||
Service Name (inputs:serviceName) |
|
Name of ROS2 Service |
/service_name |
Metadata |
displayGroup = parameters |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
On Received (outputs:onReceived) |
|
Output execution triggers when a request is received |
None |
Server Handle (outputs:serverHandle) |
|
handle to the server |
0 |
Metadata |
displayGroup = parameters |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.OgnROS2ServiceServerRequest |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.OgnROS2ServiceServerRequest.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Service Server Request |
Categories |
isaacRos2:service |
Generated Class Name |
OgnROS2ServiceServerRequestDatabase |
Python Module |
omni.isaac.ros2_bridge |