ROS2 Service A ROS2 Service is a client/server system Synchronous or asyncronous One Message type for Request, one message type for Response Can be written in python, c++, … directly inside ROS nodes A service server can only exist once, but can have many clients Example of service interface ros2 interface show example_interfaces/srv/AddTwoInts " int64 a # request int64 b # request --- int64 sum..