Services_quiz: "move_bb8_in_square_custom" service NOT found

[jiangpengyiwu]

Hi, I try to finish the services_quiz. I think I created everything according to the requirement. But the grader can’t find the “move_bb8_in_square_custom”. And the hint didn’t help. I tried to run the code I can see “/move_bb8_in_square_custom” using “rosservice list”

Thank you!

The following is my code and structure:

#include "geometry_msgs/Twist.h"
#include "ros/duration.h"
#include "ros/node_handle.h"
#include "ros/publisher.h"
#include "ros/service_server.h"
#include "services_quiz/BB8CustomServiceMessage.h"
#include "services_quiz/BB8CustomServiceMessageRequest.h"
#include "services_quiz/BB8CustomServiceMessageResponse.h"
#include <ros/ros.h>
ros::Publisher pub;

void move_square(float side) {
  geometry_msgs::Twist msg;

    for(int i = 0;i<4;i++){
        msg.linear.x = 1;
        msg.angular.z = 0;
        pub.publish(msg);
        ros::Duration(side).sleep();
        msg.linear.x = 0;
        msg.angular.z = 1;
        pub.publish(msg);
        ros::Duration(3.1415926 / 2).sleep();ƒ
    }
        msg.linear.x = 0;
        msg.angular.z = 0;
        pub.publish(msg);
}

bool mycallback(services_quiz::BB8CustomServiceMessageRequest &req,
                services_quiz::BB8CustomServiceMessageResponse &res) {
  for (int i = req.repetitions; i > 0; i--) {
    move_square(req.side);
  }
  res.success = true;
  return true;
}

int main(int argc, char **argv) {
  ros::init(argc, argv, "bb8_move_custom_service_server");
  ros::NodeHandle nh;

  pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1);

  ros::ServiceServer srvsvr =
      nh.advertiseService("/move_bb8_in_square_custom", mycallback);
  ros::spin();
  return 0;
}

<launch>
<node pkg="services_quiz" type="bb8_move_custom_service_server" name="bb8_move_custom_service_server" output="screen"/>
</launch>

[EmadDin]

Hello, I checked the image and it seem to me you a node with the same name ,it should be good check the the nodes name in package.

[jiangpengyiwu]

Thanks! I passed the test but I didn’t realize how did I solve the problem.