Services – Client/Server Interaction between Nodes
Nodes can communicate with each other using one of three communication types. You discovered topics in the previous chapter. Now is the time to switch to the second most used communication: ROS 2 services.
As we did for topics, we will first understand services with the help of a real-life analogy. I will also share more thoughts on when to use topics versus services. After that, you will dive into the code and write a service server and client inside nodes using custom service interfaces. You will also explore additional tools to handle services from the Terminal.
All the code we’ll write in this chapter starts from the final code of the previous chapter. We will improve the number application to learn how to use services, and then work on the turtle controller application with an additional challenge. If you want to have the same starting point as me, you can download the code from GitHub (https://github.com/PacktPublishing...
