@@ -119,7 +119,7 @@ The `NodeExecutorRegistry` and `TSTNodeModelsRegistry` are common for all TSTs a
## TST Executor Service Definition
We will need to create a new service definition. You should check and understand the [official tutorial](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html) first. It is good practice to create a standalone package for defining messages, so that it is independent of Python and C++. We will need to create a package specially for storing our definitions:
We will need to create a new service definition. You should check and understand the [official tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html) first. It is good practice to create a standalone package for defining messages, so that it is independent of Python and C++. We will need to create a package specially for storing our definitions:
We will create a service server whose goal is to load a TST description from a file (one of the JSON files) and execute it. In the remainder of the lab, we will help you implement that service call; in this section, we will start by just setting up an empty service.
You should start by reading and understanding the official tutorials for [Python](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html) or [C++](https://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html).
You should start by reading and understanding the official tutorials for [Python](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html) or [C++](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html).
