From ae97801424ff860952f14adbb54ec3718ceb5cbb Mon Sep 17 00:00:00 2001 From: Xavier BROQUERE Date: Fri, 19 Jun 2026 14:37:48 +0200 Subject: [PATCH] std_srvs: add SetFloat32, SetInt32, SetString, SetUInt8, SetUInt8Array services add SetFloat32, SetInt32, SetString, SetUInt8, and SetUInt8Array service files update CMakeLists to include all new .srv files in rosidl generation update README service list with usage-oriented descriptions add Forthcoming changelog entry Signed-off-by: Xavier BROQUERE --- std_srvs/CHANGELOG.rst | 6 ++++++ std_srvs/CMakeLists.txt | 5 +++++ std_srvs/README.md | 5 +++++ std_srvs/srv/SetFloat32.srv | 4 ++++ std_srvs/srv/SetInt32.srv | 4 ++++ std_srvs/srv/SetString.srv | 4 ++++ std_srvs/srv/SetUInt8.srv | 4 ++++ std_srvs/srv/SetUInt8Array.srv | 4 ++++ 8 files changed, 36 insertions(+) create mode 100644 std_srvs/srv/SetFloat32.srv create mode 100644 std_srvs/srv/SetInt32.srv create mode 100644 std_srvs/srv/SetString.srv create mode 100644 std_srvs/srv/SetUInt8.srv create mode 100644 std_srvs/srv/SetUInt8Array.srv diff --git a/std_srvs/CHANGELOG.rst b/std_srvs/CHANGELOG.rst index 1d55bbb2..defd46fd 100644 --- a/std_srvs/CHANGELOG.rst +++ b/std_srvs/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package std_srvs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +------------------- +* Add additional std_srvs service definitions: + SetFloat32, SetInt32, SetString, SetUInt8, and SetUInt8Array. +* Contributors: Xavier BROQUERE + 5.10.0 (2026-05-06) ------------------- diff --git a/std_srvs/CMakeLists.txt b/std_srvs/CMakeLists.txt index f22ac280..c7e47e01 100644 --- a/std_srvs/CMakeLists.txt +++ b/std_srvs/CMakeLists.txt @@ -17,6 +17,11 @@ find_package(rosidl_default_generators REQUIRED) set(srv_files "srv/Empty.srv" "srv/SetBool.srv" + "srv/SetFloat32.srv" + "srv/SetInt32.srv" + "srv/SetString.srv" + "srv/SetUInt8.srv" + "srv/SetUInt8Array.srv" "srv/Trigger.srv" ) rosidl_generate_interfaces(${PROJECT_NAME} diff --git a/std_srvs/README.md b/std_srvs/README.md index a89fb840..b483e2ec 100644 --- a/std_srvs/README.md +++ b/std_srvs/README.md @@ -7,6 +7,11 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros ## Services (.srv) * [Empty.srv](srv/Empty.srv): A service containing an empty request and response. * [SetBool.srv](srv/SetBool.srv): Service to set a boolean state to true or false, for enabling or disabling hardware for example. +* [SetFloat32.srv](srv/SetFloat32.srv): Service to set a float32 value, for setting a numeric threshold or gain for example. +* [SetInt32.srv](srv/SetInt32.srv): Service to set an int32 value, for setting an integer mode or counter for example. +* [SetString.srv](srv/SetString.srv): Service to set a string value, for selecting a profile or a configuration name for example. +* [SetUInt8.srv](srv/SetUInt8.srv): Service to set an unsigned 8-bit integer value, for setting a small command code for example. +* [SetUInt8Array.srv](srv/SetUInt8Array.srv): Service to set an array of unsigned 8-bit integer values, for sending a compact payload for example. * [Trigger.srv](srv/Trigger.srv): Service with an empty request header used for triggering the activation or start of a service. diff --git a/std_srvs/srv/SetFloat32.srv b/std_srvs/srv/SetFloat32.srv new file mode 100644 index 00000000..c413060f --- /dev/null +++ b/std_srvs/srv/SetFloat32.srv @@ -0,0 +1,4 @@ +float32 data # e.g. for setting a numeric threshold +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/std_srvs/srv/SetInt32.srv b/std_srvs/srv/SetInt32.srv new file mode 100644 index 00000000..effd37fc --- /dev/null +++ b/std_srvs/srv/SetInt32.srv @@ -0,0 +1,4 @@ +int32 data # e.g. for setting an integer mode or counter +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/std_srvs/srv/SetString.srv b/std_srvs/srv/SetString.srv new file mode 100644 index 00000000..a72592f5 --- /dev/null +++ b/std_srvs/srv/SetString.srv @@ -0,0 +1,4 @@ +string data # e.g. for selecting a profile or a configuration name +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/std_srvs/srv/SetUInt8.srv b/std_srvs/srv/SetUInt8.srv new file mode 100644 index 00000000..450ee709 --- /dev/null +++ b/std_srvs/srv/SetUInt8.srv @@ -0,0 +1,4 @@ +uint8 data # e.g. for setting a small command code +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages diff --git a/std_srvs/srv/SetUInt8Array.srv b/std_srvs/srv/SetUInt8Array.srv new file mode 100644 index 00000000..a7de00b8 --- /dev/null +++ b/std_srvs/srv/SetUInt8Array.srv @@ -0,0 +1,4 @@ +uint8[] data # e.g. for sending a compact payload +--- +bool success # indicate successful run of triggered service +string message # informational, e.g. for error messages