ROS2 Service Server Response
This node is a generic service server that provides interface for a ROS service. The 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 sends a response (commanded from the node inputs) to the client. This node can only receive the requests, and should be connected to a OgnROS2ServiceServerRequest through the out serverHandle parameter in order to send a 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 |
||
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 |
||
On Received (inputs:onReceived) |
|
The input execution port when a request is received |
None |
Server Handle (inputs:serverHandle) |
|
handle to the server |
0 |
Metadata |
displayGroup = parameters |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Output execution triggers when a response is sent |
None |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.ros2_bridge.OgnROS2ServiceServerResponse |
Version |
1 |
Extension |
omni.isaac.ros2_bridge |
Icon |
ogn/icons/omni.isaac.ros2_bridge.OgnROS2ServiceServerResponse.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ROS2 Service Server Response |
Categories |
isaacRos2:service |
Generated Class Name |
OgnROS2ServiceServerResponseDatabase |
Python Module |
omni.isaac.ros2_bridge |