Creating nodes: Messages | Publishers and subscribers | Services | Parameters | Logging | Exceptions | Running nodes | Building your package with Ant and rosmake | manifest.xml | ros.properties | Developing your project in Eclipse | Integrating test results from JUnit | rosjava-related packages

Services are synchronous bidirectional communication between nodes. There is a request message sent from the client to a service server. The service server then replies with a response message. For more information about services, checkout the Services concept page.

Service Servers

Service server are the objects that do the work in a service. They advertise action and then perform it when they receive a request from client.

   1 //creation/advertising a service
   2 

Service Clients

   1 //waiting for the service to become available
   2 
   3 //creating a service client//calling service
   4