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[rosserial server] implement rosservice server #615

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[rosserial server] implement rosservice server #615

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@tongtybj tongtybj commented Mar 8, 2023

What is this

enable to receive service server from arduino by usign topic_tools::ShaeShifter

tongtybj and others added 16 commits June 4, 2022 00:25
@tongtybj
Add ServiceServer in rosserial server using topic_tools::ShapeShifter.
d636dbb
@tongtybj
User asyncspinner instead of ros timer
3e544cb
@tongtybj
Add gtest code for service server in rosserial client
e27c731
@tongtybj
Resolve the double free or corruption problem in the rosservice callb…
3dd5ff3 
…ack function.
@tongtybj
Refactor the wating timeout for service server
8215b1a
@tongtybj
Change the level of verbose for sync lost
20461b0
@tongtybj
Add arg for serial.launch
d02e265
@tongtybj
Switch the service reponse and reuqest md5sum check
dd5f2e7
@tongtybj
Separate subscriber callbacks and service server callbacks into two d…
c1ca58f 
…ifferent AsyncSpinner to run them in different threads.
@tongtybj
Send ID_TX_STOP on shutdown.
90f4543
@tongtybj
Compatible usage of boost asio dispath for different boost version
88cdb93
@mjseppa
Replace busy wait loop with condition variables
169e031
@mjseppa
Match sync timeout with rosserial_python
5d9b20e
@mjseppa
Fix subscriber typo
2a8ddee
@tongtybj
[rosserial_test] remove unecessary dependency in CMake
01b93de
@tongtybj
Merge pull request #5 from mjseppa/rosservice_server
7cd68bd 
Rosservice server condition variable wait and timing fix for rosserial_python
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tongtybj commented Mar 8, 2023

We use rosserial_server but not rosserial_python in the case of really fast communication between the host PC and the board. But the interval of https://github.com/ros-drivers/rosserial/blob/noetic-devel/rosserial_server/include/rosserial_server/session.h#L78 is too slow, and even 1 ms is not fast enough for C++ user.
Therefore, I revert asyncspinner for ros topics/services instead of boost::asio::deadline_timer to enable instant processing for callback queue.

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3 participants

@tongtybj @mjseppa @sugikazu75