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\\thirdpartylogo{path/to/your/image}\n+\n+\n+\\begin{document}\n+{\n+\\begin{frame}\n+\\titlepage\n+\\end{frame}\n+}\n+\n+\\AtBeginSection[]{% Print an outline at the beginning of sections\n+\\begin{frame}<beamer>\n+\t\\tableofcontents[currentsection]\n+\\end{frame}%\n+}%\n+\n+\\section{Services (Theory)}\n+\t\\begin{frame}\n+\t\t\\frametitle{What is a Service?}\n+\t\t\\begin{itemize}\n+\t\t\t\\item{It is a request/reply communication paradigm.}\n+\t\t\t\\item{It is composed of two pair of messages, one for the request and one for the reply.}\n+\t\t\t\\item{Two nodes participate in the communication process.}\n+\t\t\t\\item{One node offers the service and other node request the service and wait for the response.}\n+\t\t\t\\item{A service is defined using \\textbf{srv} files}\n+\t\t\t\n+\t\t\\end{itemize}\n+\t\\end{frame}\n+\t\\begin{frame}\n+\t\t\\frametitle{Service type}\n+\t\t\\begin{itemize}\n+\t\t\t\\item{The service type is the package resource name of the .srv file, i.e. package name + name of the .srv file.}\n+\t\t\t\\item{E.g. mysrvs/srv/PolledImage.srv has the service type mysrvs/PolledImage }\n+\t\t\\end{itemize}\n+\t\\end{frame}\n+\t\\begin{frame}\n+\t\t\\frametitle{Service Tools}\n+\t\t\\begin{itemize}\n+\t\t\t\\item{rossrv - Displays information about .srv data structures.}\n+\t\t\t\\begin{itemize}\n+\t\t\t\t\\item{rossrv show - Show service description}\n+\t\t\t\t\\item{rossrv info - Alias for rossrv show}\n+\t\t\t\t\\item{rossrv list - List all services}\n+\t\t\t\t\\item{rossrv md5 - Display service md5sum}\n+\t\t\t\t\\item{rossrv package - List services in a package}\n+\t\t\t\t\\item{rossrv packages - List packages that contain services}\n+\t\t\t\t\n+\t\t\t\\end{itemize}\n+\t\t\t\\item{rosservice - Lists and queries ROS services}\n+\t\t\t\\begin{itemize}\n+\t\t\t\t\\item{rosservice list - print information about active services}\n+\t\t\t\t\\item{rosservice call - call the service with the provided args}\n+\t\t\t\t\\item{rosservice type - print service type}\n+\t\t\t\t\\item{rosservice find - find services by service type}\n+\t\t\t\\end{itemize}\n+\t\t\\end{itemize}\n+\t\\end{frame}\n+\\section{Services (Practice)}\n+\\section{Actions (Theory)}\n+\\section{Actions (Practice)}\n+\t\\begin{frame}\n+\t\t\\frametitle{Actionlib}\n+\t\t\\begin{itemize}\n+\t\t\t\\item{Actionlib stack gives a standardized interface containing reemptable tasks, i.e. tasks capable of being interrupted with the option of resuming the task at a later time.}\n+\t\t\t\\item{Actionlib package allows us to create servers that could perform \"long-running\" goals.}\n+\t\t\t\\item{Actions gives the ability to cancel a service request during execution.}\n+\t\t\t\\item{Actions are also useful to get periodic feedback about the request.}\n+\t\t\t\\item{}\n+\t\t\\end{itemize}\n+\t\\end{frame}\n+\t\n+\t\\begin{frame}\n+\t\t\\frametitle{Client-Server Interaction}\n+\t\t\\begin{itemize}\n+\t\t\t\\item{The communication composed of two elements: ActionClient and ActionServer.}\n+\t\t\t\\item{The client allows the users to request \"goals\", while the server execute those goals.}\n+\t\t\t\\begin{figure}[h!]\n+\t\t\t\t\\includegraphics[scale=0.4]{client_server_interaction}\n+\t\t\t\\end{figure}\n+\t\t\t\n+\t\t\\end{itemize}\n+\t\\end{frame}\n+\t\n+\t\\begin{frame}\n+\t\t\\frametitle{Messages 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