Common SRV types

srv The type is equivalent to two message passageway , A send , A receiver

AddTwoInts.srv

# Sum two integers , Before the dotted line is the input quantity , Followed by return quantity
# file location ： Customize srv file

int32 a
int32 b
——
int32 sum

Empty.srv

# file location ：std_srvs/Empty.srv
# Represents an empty srv type

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GetMap.srv

# file location :nav_msgs/GetMap.srv
# Get maps , Note that the request section is empty

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nav_msgs/OccupancyGrid map
GetPlan.srv

# file location :nav_msgs/GetPlan.srv
# Get a path from the current position to the target point
geometry_msgs/PoseStamped start # The starting point
geometry_msgs/PoseStamped goal # The target point
float32 tolerance # Reaching the target point x,y Fault tolerance distance of direction
——
nav_msgs/Path plan
SetBool.srv

# file location ：std_srvs/SetBools.srv
bool data # Turn the hardware on or off
——
bool success # Indicates whether the hardware is running successfully
string message # Operation information
SetCameraInfo.srv

# file location :sensor_msgs/SetCameraInfo.srv
# By giving CameraInfo Camera information , To calibrate the camera
sensor_msgs/CameraInfo camera_info # Camera information
——
bool success # If the call succeeds , Then return to true
string status_message # Give details of the successful call
SetMap.srv

# file location ：nav_msgs/SetMap.srv
# Based on the initial position , Set new map
nav_msgs/OccupancyGrid map
geometry_msgs/PoseWithCovarianceStamped initial_pose
——
bool success
TalkerListener.srv

# file location : Customize srv file
——
bool success # Mark srv Successful operation
string message # Information , Such as error messages
Trigger.srv

# file location :std_srvs/Trigger.srv
——
bool success # Mark srv Successful operation
string message # Information , Such as error messages