Support ROS service transmission
shupx opened this issue · comments
swarm_ros_bridge only supports topic transmission now by zeroMQ PUB/SUB mode. But a similar pipeline can also be utilized in ROS service transmission by zeroMQ Request/Reply mode.
Maybe we should add ROS service transmission support.
Topics and services suit different tasks. The send_topic messages are sent by the local robot and may be received by several other robots. The local robot does not need to know the IP and number of receiving robots. In other situations, local robot may need to advertise a service waiting for other robots' call. Service means the local robot first receives a request from other robots and then reply (send reply messages) to them.
It is obvious that in topic mode the robot sends self messages while in service mode it waits and receives requests from other robots. The common thing is that in both modes, the robot does not know how many remote robots there will be that connects to it.