advertise method

Future<void> advertise(ServiceHandler handler)

Implementation

Future<void> advertise(ServiceHandler handler) async {
  if (isAdvertised) return;
  // Send the advertise request.
  ros.send(Request(op: 'advertise_service', type: type, service: name));
  // Listen for requests, forward them to the handler and then
  // send the response back to the ROS node.
  _advertiser = ros.stream;
  _advertiser!.listen((Map<String, dynamic> message) async {
    if (message['service'] != name) {
      return;
    }
    Map<String, dynamic>? resp = await handler(message['args']);
    ros.send(
      Request(
        op: 'service_response',
        id: message['id'],
        service: name,
        values: resp ?? {},
        result: resp != null,
      ),
    );
  });
}