Service Introspection Documentation and Tutorial#2981
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Service Introspection Documentation and Tutorial#2981
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Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
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fujitatomoya
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Mar 3, 2024
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| Related PR: `ros2/ros2cli#749 <https://github.com/ros2/ros2cli/pull/749>`_ | ||
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| Service Introspection |
Collaborator
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we already have this in release note.
ros2_documentation/source/Releases/Release-Iron-Irwini.rst
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| 3.2 Recording Services | ||
| ~~~~~~~~~~~~~~~~~~~~~~ | ||
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| Note: this feature is avaliable only from in ``rolling ridley`` and ``iron irwini`` onwards. | ||
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| You can record services as well. | ||
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| Run the following command: | ||
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| .. code-block:: console | ||
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| ros2 bag record --services <service_name> | ||
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| ``ros2 bag record --services`` is a layer of syntactic sugar for ``ros2 bag record`` and will record the service event messages published to ``<service_name>/_service_event``. | ||
| Note that this will only work if service introspection is currently enabled for the services you are recording. | ||
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| Though one can play back and introspect the service event messages there is currently no support for replaying services i.e. mocking client requests via ``ros2 bag play``. | ||
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| For more information see REP2012_. | ||
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| .. _REP2012: https://github.com/ros-infrastructure/rep/pull/360 | ||
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Collaborator
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actually recording service is already implemented in rosbag2.
this will be handled after ros2/rosbag2#1481 all together.
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| .. image:: images/spawn.png | ||
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| 7 ros2 service echo |
Collaborator
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#4199 replaces this. |
Contributor
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Closing since we did this in #4199. |
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Adding docs for service introspection (ros2/ros2#1285). Leaving as draft until the feature actually gets merged in.
Signed-off-by: Brian Chen brian.chen@openrobotics.org