implemented service_relay

service_tools/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(service_tools)
+
+find_package(catkin REQUIRED
+             COMPONENTS
+            )
+
+catkin_package()
+
+
+catkin_install_python(PROGRAMS scripts/service_relay
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+                     )

service_tools/package.xml

@@ -0,0 +1,18 @@
+<package format="2">
+  <name>service_tools</name>
+  <version>0.6.4</version>
+  <description>
+    Service tools
+  </description>
+
+  <maintainer email="[email protected]">Florian Weisshardt</maintainer>
+  <author email="[email protected]">Mathias Lüdtke</author>
+
+  <license>LGPL</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rosservice</exec_depend>
+
+</package>

service_tools/scripts/service_relay

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import rospy
+import rosservice
+
+if __name__ == "__main__":
+    argv = rospy.myargv()
+    if len(argv) != 3:
+        rospy.logerr("service_relay IN OUT")
+
+    rospy.init_node("service_relay")
+
+    local_name, remote_name = argv[1], argv[2]
+
+    rospy.wait_for_service(remote_name)
+    srv_def = rosservice.get_service_class_by_name(remote_name)
+    remote = rospy.ServiceProxy(remote_name, srv_def)
+
+    local = rospy.Service(local_name,srv_def, remote.call)
+    rospy.loginfo("Started relay from %s to %s (%s)" % (local_name, remote_name, srv_def._type))
+    rospy.spin()