Merge pull request #705 from k-okada/add_call_trigger_service_persist

add call-trigger-service and call-set-bool-service, copied from

roseus/euslisp/roseus-utils.l

@@ -1108,12 +1108,30 @@
 ;; misc function
 ;;
 (ros::roseus-add-srvs "std_srvs")
-(defun call-empty-service (srvname &key (wait nil) (timeout -1)) ;; If timeout is -1 (default), waits until the node is shutdown. If timeout is 0, returns immediately.
+(defun call-empty-service (srvname &key (wait nil) (timeout -1) (persistent nil)) ;; If timeout is -1 (default), waits until the node is shutdown. If timeout is 0, returns immediately.
   "Call empty service and return t"
   (when (ros::wait-for-service srvname (if wait timeout 0))
-    (ros::service-call srvname (instance std_srvs::EmptyRequest :init))
+    (ros::service-call srvname (instance std_srvs::EmptyRequest :init) persistent)
     t))
 
+(defun call-trigger-service (srvname &key (wait nil) (timeout -1) (persistent nil))
+  "Call std_srv/Trigger service. Use (setq r (call-trigger-service \"/test\" t)) (and r (send r :success)) to check if it succeed. If r is nil, it fail to find service."
+  (let (r)
+    (when (ros::wait-for-service srvname (if wait timeout 0))
+      (setq r (ros::service-call srvname (instance std_srvs::TriggerRequest :init) persistent))
+      (ros::ros-debug "Call \"~A\" returns \"~A\"" srvname (send r :message))
+      (unless (send r :success) (ros::ros-warn "Call \"~A\" fails, it returns \"~A\"" srvname (send r :message)))
+      r)))
+
+(defun call-set-bool-service (srvname data &key (wait nil) (timeout -1) (persistent nil))
+  "Call std_srv/SetBoolRequest service, Use (setq r (call-set-bool-service \"/test\" t)) (and r (send r :success)) to check if it succeed. If r is nil, it fail to find service."
+  (let (r)
+    (when (ros::wait-for-service srvname (if wait timeout 0))
+      (setq r (ros::service-call srvname (instance std_srvs::SetBoolRequest :init :data data) persistent))
+      (ros::ros-debug "Call \"~A\" returns \"~A\"" srvname (send r :message))
+      (unless (ros r :success) (ros::ros-warn "Call \"~A\" fails, it returns \"~A\"" srvname (send r :message)))
+      r)))
+
 (defun one-shot-subscribe (topic-name mclass &key (timeout) (after-stamp) (unsubscribe t))
   "Subscribe message, just for once"
   (let (lmsg)