Support rosbridge advertised services - #1
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Adds rosbridge-compatible support for websocket clients that advertise ROS services via
advertise_service, receive service calls over the websocket, and respond withservice_response.What changed:
GenericServicewrapper aroundrclcpp::ServiceBase.advertise_service,unadvertise_service, andservice_responseinClientHandler.Validation:
rwsstandalone in the sim Docker image with tests enabled.innate-osPR #411 and confirmed the simulator runs on a single RWS port,9090./mars/arm/goto_js,/mars/arm/goto_js_v2,/mars/arm/goto_js_trajectory,/mars/arm/torque_on,/mars/arm/torque_off,/mars/arm/reboot./mars/arm/torque_onand/mars/arm/goto_js_v2.