Minimal ROS Service server

minimal_service_server.cpp

#include "ros/ros.h" #include "std_srvs/Empty.h" // Import the service message header file generated from the Empty.srv message

bool my_callback(std_srvs::Empty::Request  &req, std_srvs::Empty::Response &res){
//process some action
ROS_INFO("My_callback has been called");
  return true;
}

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

  ros::ServiceServer my_service = nh.advertiseService("/my_service", my_callback); // create the Service called                                                                                          // my_service with the defined                                                                                        // callback
  ros::spin(); // mantain the service open.

  return 0;
}