fix: Service cannot process error.

CMakeLists.txt

@@ -25,6 +25,7 @@ add_service_files(FILES
   GetCoords.srv
   SetCoords.srv
   GripperStatus.srv
+  PumpStatus.srv
 )
 
 ## Generate added messages and services

scripts/mycobot_services.py

@@ -24,6 +24,7 @@ def create_services():
     rospy.Service('set_joint_coords', SetCoords, set_coords)
     rospy.Service('get_joint_coords', GetCoords, get_coords)
     rospy.Service('switch_gripper_status', GripperStatus, switch_status)
+    rospy.Service('switch_pump_status', PumpStatus, toggle_pump)
     rospy.loginfo('ready')
     rospy.spin()
 
@@ -42,6 +43,8 @@ def set_angles(req):
     if mc:
         mc.send_angles(angles, sp)
 
+    return SetAnglesResponse(True)
+
 
 def get_angles(req):
     if mc:
@@ -63,6 +66,8 @@ def set_coords(req):
 
     if mc:
         mc.send_coords(coords, sp, mod)
+    
+    return SetCoordsResponse(True)
 
 
 def get_coords(req):
@@ -78,6 +83,20 @@ def switch_status(req):
         else:
             mc.set_gripper_state(1, 80)
 
+    return GripperStatusResponse(True)
+
+
+def toggle_pump(req):
+    if mc:
+        if req.Status:
+            mc.set_basic_output(2, 0)
+            mc.set_basic_output(5, 0)
+        else:
+            mc.set_basic_output(2, 1)
+            mc.set_basic_output(5, 1)
+
+    return PumpStatusResponse(True)
+
 
 robot_msg = '''
 MyCobot Status

srv/GetAngles.srv

@@ -1,6 +1,3 @@
-
----
-
 float32 joint_1
 float32 joint_2
 float32 joint_3

srv/GripperStatus.srv

@@ -1,3 +1,5 @@
 bool Status
 
----
+---
+
+bool Flag

srv/PumpStatus.srv

@@ -0,0 +1,5 @@
+bool Status
+
+---
+
+bool Flag

srv/SetAngles.srv

@@ -7,4 +7,6 @@ float32 joint_6
 
 int8 speed
 
----
+---
+
+bool Flag

srv/SetCoords.srv

@@ -8,4 +8,6 @@ float32 rz
 int8 speed
 int8 model
 
----
+---
+
+bool Flag