Python service related snippets

Author: jaroszekpiotr

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ## [Unreleased]
 
+## [0.3.0]
+- Added python service related snippets
+- Updated readme
+
 ## [0.2.3]
 - Fixed typo
 

README.md

@@ -27,5 +27,9 @@ Snippets list for launch files:
   * `subscriber` - ROS subscriber,
   * `publisher` - ROS publisher,
   * `rosnode template` - Python template for ROS node implementation,
-  * `periodic timer` - ROS periodic function call,
+  * `timer` - ROS periodic function call,
   * `param` - Get ROS param.
+  * `service server` - Service server handler
+  * `service client` - Service client handler
+  * `service wait` - Wait for service
+  * `service wait client` - Service server handler with wait for service

package.json

@@ -2,7 +2,7 @@
     "name": "ros-snippets",
     "displayName": "ROS snippets",
     "description": "ROS (Robot operating system) snippets.",
-    "version": "0.2.3",
+    "version": "0.3.0",
     "publisher": "pijar",
     "repository": {
         "type": "git",

snippets/ros_py_snippets.json

@@ -39,5 +39,35 @@
         "prefix": "param",
         "body": "${1:param} = rospy.get_param(\"~${2:param}\", default=\"${3:0}\")\n${0}",
         "description": "ROS get param"
+    },
+    "service server": {
+        "scope": "py",
+        "prefix": "service",
+        "body": "${1:srv_server_handler} = rospy.Service(${2:service_name}, ${3:service_type}, ${4:service_callback})\n${0}",
+        "description": "ROS service server"
+    },
+    "service client": {
+        "scope": "py",
+        "prefix": "service",
+        "body": "${1:srv_client_handler} = rospy.ServiceProxy(${2:service_name}, ${3:service_type})\n${0}",
+        "description": "ROS service client"
+    },
+    "service wait": {
+        "scope": "py",
+        "prefix": "service",
+        "body": "rospy.wait_for_service(${1:service_name})\n${0}",
+        "description": "ROS service wait"
+    },
+    "service wait client": {
+        "scope": "py",
+        "prefix": "service",
+        "body": [
+            "rospy.wait_for_service(${1:service_name})",
+            "try:",
+            "\t${2:srv_client_handler} = rospy.ServiceProxy(${1:service_name}, ${3:service_type})\n\t${0}",
+            "except rospy.ServiceException as e:",
+            "\tprint(e)"
+        ],
+        "description": "ROS service client wrapped with try/except and prior wait for service."
     }
 }