c++ server service ros

1. Include necessary headers:

#include <ros/ros.h>
#include <your_custom_msgs/YourMessage.h>

1. Declare a callback function for handling incoming messages:

void messageCallback(const your_custom_msgs::YourMessage::ConstPtr& msg) {
    // Process the incoming message
}

1. Initialize ROS node and create a subscriber:

int main(int argc, char argv) {
    ros::init(argc, argv, "your_node_name");
    ros::NodeHandle nh;

    ros::Subscriber sub = nh.subscribe("your_topic_name", 10, messageCallback);

    ros::spin(); // Keep the node running

    return 0;
}

1. Implement server logic in the callback function:

void messageCallback(const your_custom_msgs::YourMessage::ConstPtr& msg) {
    // Process the incoming message

    // Implement server logic here

    // Send response if necessary
}

1. Build and compile the ROS package:

catkin_make

1. Run the ROS node:

rosrun your_package_name your_node_name

1. Launch the ROS master and other dependencies if needed:

roscore

1. Test the server by publishing messages to the specified topic.

2. Handle any required dependencies and installations for your ROS package.

3. Debug and troubleshoot as needed based on error messages or unexpected behavior.