Work on interaction

CMakeLists.txt

@@ -55,6 +55,9 @@ add_message_files(
 add_service_files(
   FILES
   AddProtocolInstance.srv
+  AspAdd.srv
+  AspSolve.srv
+  GetDoubleParam.srv
   GetInitiatorStatus.srv
   GetLastMsg.srv
 )

srv/AspAdd.srv

+string asp                     # asp code to add
+---
+bool success
+int32 error
+string reason

srv/AspSolve.srv

+---
+string result
+bool success
+int32 error
+string reason

srv/GetDoubleParam.srv

+string ns
+string param
+---
+bool have_value
+float64 value
+bool success
+int32 error
+string reason