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Send Service Response

Send service response to ROS 2 service client

Since R2024a

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  • Send Service Response block icon.

Libraries:
ROS Toolbox / ROS 2

Description

The Send Service Response block enables you to send service response messages to service clients after processing the service requests the clients sent. To configure the service parameters and receive service requests, you must first create a paired Receive Service Request block and specify all the parameters in the Receive Service Request block mask. You can then process incoming service requests in the model, construct appropriate responses, and then use the Send Service Response to return the service response to the clients. Thus, you can use the Receive Service Request block and the Send Service Response in the same model to implement a ROS 2 service server in Simulink®. The service server is associated with the node of the Simulink model.

Note

For each Send Service Response block you add in a model, you must create a paired Receive Service Request block only by clicking Click to create paired Receive Request block in the block mask.

Examples

Create ROS 2 Service Server in Simulink

Create ROS 2 Service Server in Simulink

Set up a ROS 2 service server in Simulink® which provides the vector cross product as response for any two input vectors. You then create a service client, connect to the service server and send a service request with two input vectors.

Open Live Script

Ports

Input

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Service response message to send to the service client, specified as a non-virtual bus. The response message type is based on the service type specified in the paired Receive Service request block.

Parameters

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To edit block parameters interactively, use the Property Inspector. From the Simulink Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

This parameter is read-only.

Service name, specified as a character vector. This is the name of the service server which clients can then use to connect and send service requests.

Dependencies

The service name is same as that specified in the paired Receive Service request block.

This parameter is read-only.

Service type, specified as a character vector. Each service name has a corresponding type. Click the Select button to select from a full list of supported ROS 2 service types.

If you are using a custom service type, first build the associated service definitions using the ros2genmsg function. Then, you can specify your custom service type using the Select button.

Dependencies

The service type is same as that specified in the paired Receive Service request block.

Path to the Receive Service Request block paired with this Send Service Response block. To create a paired Receive Service Request for the first time, click Create paired Receive Request block.

After you create a paired Receive Service Request block, clicking the path displays and highlights the Receive Service Request block in your model.

Tips

  • For correct service server implementation, only use Click to create paired Receive Request block to create the Receive Service Request associated with this Send Service Response block. Do not add a Send Service Response block from the library.

Extended Capabilities

Version History

Introduced in R2024a

See Also

Blocks

Objects