#include <rclcpp/rclcpp.hpp> #include <std_srvs/srv/trigger.hpp> class MyNode : public rclcpp::Node { public: MyNode() : Node("my_node") { using TriggerSrv = std_srvs::srv::Trigger; service_ = this->create_service<TriggerSrv>( "trigger_service", std::...