Calc Service ROS 2

Simple project created to practice creating and using custom services in ROS 2 (Humble), with Python client and server nodes. Uses a custom .srv interface to perform basic math operations: addition, subtraction, multiplication, and division.

---

Project Structure

• calc_interfaces/: package that defines the custom service interface DoMath.srv.
• calc_service/: package containing client and server nodes that use this interface.

---

How to Use

1. Clone the repository and go to the workspace folder:

   cd ros2_ws

2. Build the workspace:

   colcon build
   source install/setup.bash

3. In terminal 1, run the server node:

   ros2 run calc_service service

4. In terminal 2, run the client node with parameters:

   ros2 run calc_service client <num1> <num2> <operation>

   Where:

   • <num1> and <num2> are integers.
   • <operation> can be: soma, subtracao, multiplicacao, or divisao.

---

Example

ros2 run calc_service client 10 5 soma

Expected output:

Result: 15
Message: a soma de 10 + 5 = 15

---

Technologies Used

• ROS 2 Humble
• Python 3
• rclpy
• Custom .srv service interface

---

License

Apache License 2.0 — see LICENSE file for details.

---

Project made for study and practice, ideal for beginners learning custom services in ROS 2.