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Show service introspection #18

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4 changes: 4 additions & 0 deletions rclrs/minimal_client_service/src/minimal_client.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,10 @@ fn main() -> Result<(), Error> {

let client = node.create_client::<AddTwoInts>("add_two_ints")?;

// Enable introspection for this client
// if you want to be able to introspect the service calls e.g. with ros2 service echo
client.configure_introspection(ServiceIntrospectionState::Contents)?;

let promise = executor.commands().run(async move {
println!("Waiting for service...");
client.notify_on_service_ready().await.unwrap();
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6 changes: 5 additions & 1 deletion rclrs/minimal_client_service/src/minimal_service.rs
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Expand Up @@ -19,7 +19,11 @@ fn main() -> Result<(), Error> {

let node = executor.create_node("minimal_service")?;

let _server = node.create_service::<AddTwoInts, _>("add_two_ints", handle_service)?;
let server = node.create_service::<AddTwoInts, _>("add_two_ints", handle_service)?;

// Enable introspection for this service
// if you want to be able to introspect the service calls e.g. with ros2 service echo
server.configure_introspection(ServiceIntrospectionState::Contents)?;

println!("Starting server");
executor.spin(SpinOptions::default()).first_error()?;
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