1.2.1. DDS Service Server¶

This example tackles the task of bridging a DDS server with one or more client applications, implemented using a wide variety of protocols.

Specifically, we discuss how to forward petitions coming from ROS 1, ROS 2 and a WebSocket service client applications to a Fast DDS DDSAddTwoInts server application, so that it can process them and fulfill each request with a proper answer message.

Note

If you are looking for an example on how to perform a service request from a DDS client to another protocol, please refer to any of the remaining examples in the server/client examples section.

1.2.1.1. Requirements¶

To prepare the deployment and setup the environment, you need to have Integration Service correctly installed in your system. To do so, please follow the steps delineated in the Installation section.

Also, to get this example working, the following requirements must be met:

Having Fast DDS (v.2.0.0 or superior) installed and the Integration Service DDSAddTwoInts example working. This example can be found in the main Integration Service repository, under the examples/utils/dds/DDSAddTwoInts folder; to compile it, you can either compile the whole Integration Service project using colcon with the CMake flag BUILD_EXAMPLES enabled; or execute the following steps:
```
cd ~/is-workspace/src/Integration-Service/examples/utils/dds/DDSAddTwoInts
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=ON && make
```
Having the Fast DDS System Handle installed. You can download it from the FastDDS-SH dedicated repository into the is-workspace where you have Integration Service installed:
```
cd ~/is-workspace
git clone https://github.com/eProsima/FastDDS-SH.git src/FastDDS-SH
```
Having ROS 1 (Melodic or superior) installed and the Integration Service example_interfaces ROS 1 package compiled. This package can be found in the main Integration Service repository, under the examples/utils/ros1/src/example_interfaces folder. To compile and install it:
```
source /opt/ros/$ROS1_DISTRO/setup.bash
cd ~/is-workspace/src/Integration-Service/example/utils/ros1
catkin_make -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS1_DISTRO install
```
Having the ROS 1 System Handle installed. You can download it from the ROS1-SH dedicated repository into the is-workspace where you have Integration Service installed:
```
cd ~/is-workspace
git clone https://github.com/eProsima/ROS1-SH.git src/ROS1-SH
```
Having ROS 2 (Foxy or superior) installed, along with the example_interfaces types package. To install it:
```
apt install ros-$ROS2_DISTRO-example-interfaces
```
Having the ROS 2 System Handle installed. You can download it from the ROS2-SH dedicated repository into the is-workspace where you have Integration Service installed:
```
cd ~/is-workspace
git clone https://github.com/eProsima/ROS2-SH.git src/ROS2-SH src/ros2-sh
```

Having OpenSSL and WebSocket++ installed:

apt install libssl-dev libwebsocketpp-dev

Having the WebSocket System Handle installed. You can download it from the WebSocket-SH dedicated repository into the is-workspace where you have Integration Service installed:
```
cd ~/is-workspace
git clone https://github.com/eProsima/WebSocket-SH.git src/WebSocket-SH
```

After you have everything correctly installed in your is-workspace, build the packages by running:

colcon build --cmake-args -DBUILD_EXAMPLES=ON -DMIX_ROS_PACKAGES="example_interfaces"

1.2.1.2. Deployment¶

Below we explain how to deploy a full example of this communication, calling the DDS service from each of the available clients.

Launch the DDS AddTwoInts server¶

To do so, open a terminal, go to the is-workspace folder and execute the following command:

cd ~/is-workspace
./build/DDSAddTwoInts/DDSAddTwoInts -m server

The server will start running under the default DDS domain ID 0 listening for incoming petitions.

Execute Integration Service¶

Open two terminals:

In the first terminal, source the ROS 1 installation and run the roscore:
```
source /opt/ros/$ROS1_DISTRO/setup.bash
roscore
```
In the second terminal, go to the is-workspace folder, source the ROS 1, ROS 2 and local installations, and execute Integration Service with the integration-service command followed by the fastdds_server__addtwoints.yaml configuration file located in the src/Integration-Service/examples/basic folder.
```
source /opt/ros/$ROS1_DISTRO/setup.bash
source /opt/ros/$ROS2_DISTRO/setup.bash
source install/setup.bash
integration-service src/Integration-Service/examples/basic/fastdds_server__addtwoints.yaml
```

Call the service from ROS 1¶

In a new terminal, source your ROS 1 installation and invoke the service by executing the following instructions:

source /opt/ros/$ROS1_DISTRO/setup.bash
rosservice call /add_two_ints 3 4

You should receive the following output from the DDS server processing the petition:

sum: 7

Call the service from ROS 2¶

In a new terminal, source your ROS 2 installation and invoke the service by executing the following instruction:

source /opt/ros/$ROS2_DISTRO/setup.bash
ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 5, b: 17}"

You should receive the following output from the DDS server processing the petition:

waiting for service to become available...
requester: making request: example_interfaces.srv.AddTwoInts_Request(a=5, b=17)

response:
example_interfaces.srv.AddTwoInts_Response(sum=22)

Call the service from WebSocket¶

The WebSocket client demo application used for this example can be found in the websocket.org/echo webpage:

First, under the Location section, connect to the WebSocket server automatically deployed by the Integration Service. To do so, and since the example is being run without SSL security, copy and paste the following URL into the Location field text box, and press Connect:
```
ws://localhost:80
```

Now it is time to advertise the service we want to use; to do so, under the Message text box, enter the following and press Send:

{"op": "advertise_service", "service": "add_two_ints", "request_type": "AddTwoInts_Request", "reply_type": "AddTwoInts_Response"}

Finally, after the service has been advertised, call it by sending the following message from the WebSocket echo:
```
{"op": "call_service", "service": "add_two_ints", "args": {"a": 14, "b": 25}}
```

After this, in the Log, you should receive the following response from the DDS server:

RECEIVED: {"op":"service_response","result":true,"service":"add_two_ints","values":{"sum":39}}