add demo service

strawlab · Jan 24, 2013 · a7a91c5 · a7a91c5
1 parent 5afe619
commit a7a91c5
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Showing 2 changed files with 9 additions and 0 deletions.
diff --git a/manifest.xml b/manifest.xml
@@ -7,6 +7,7 @@
   <author>John Stowers</author>
 
   <depend package="std_msgs"/>
+  <depend package="std_srvs"/>
   <depend package="geometry_msgs"/>
 
   <depend package="rospy"/>

diff --git a/tests/testnode.py b/tests/testnode.py
@@ -5,6 +5,7 @@
 
 import rospy
 import std_msgs.msg
+import std_srvs.srv
 
 import random
 import string
@@ -19,9 +20,16 @@ def __init__(self):
             self._pubs.append( p )
             self._pubst[p] = t
 
+        self._fs = rospy.Publisher("~foo",std_msgs.msg.Float32)
+        s = rospy.Service('~set_foo', std_srvs.srv.Empty, self._change_foo)
+
         self._timer = rospy.Timer(rospy.Duration(0.2),
                                     self._new_msg)
 
+    def _change_foo(self, req):
+        self._fs.publish(random.random())
+        return std_srvs.srv.EmptyResponse()
+
     def _new_msg(self, evt):
         p = random.choice( self._pubs )
         msg = self._pubst[p]()