[rosserial server] implement rosservice server

ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial

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[rosserial server] implement rosservice server #615

Open tongtybj opened 1 year ago

tongtybj commented 1 year ago

What is this

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

tongtybj commented 1 year ago

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.