SMACC2
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robosoft-ai
[FEA REQUEST] Any support to smacc_service_server_client?
What I found is that smacc provides following client_base:
- action_client
- publisher_client
- service_client
- subscriber_client
Can smacc provide service_server_client?
Originally posted by @ZhenshengLee in https://github.com/reelrbtx/SMACC/issues/47#issuecomment-993231559
Hello @ZhenshengLee It is something we have in the scope. It is something we plan to do when we have some gap in the time scheduling.
Nonetheless, any proposal is welcome, anybody could do a PR getting inspiration from the SmaccActionClient or the SubscriberActionClient
@pabloinigoblasco I opened a PR to add this functionality over on the original SMACC1 repo here. Perhaps when you have some time, you can have a look and let me know what you think? I'm not able to port it to SMACC2 just yet, since we're still using ROS Melodic, but I'll be happy to port it once we've moved on to ROS2 and SMACC2
Hello @yassiezar I had a look to the ROS1 PR thanks for that. I had a look to the code and initially it looks fine to me, I just miss one example to test the funcionality.
Once it is tested It shouldnt be hard to port it to ROS2.
Ok fair enough. I'll try and add one when I find some time. Would it be fine to adjust sm_atomic for it, or is there a better one to put it into?
A copy of sm_atomic would be good enough (with other name) as a base with two states. One of the states could make a transition when the service server receives a call so we can verify that the service server is working.