From 9edea53a2d25f76688e75c860c770c132b75325c Mon Sep 17 00:00:00 2001
From: Jesus Eduardo Rodriguez <141784078+hello-jesus@users.noreply.github.com>
Date: Thu, 24 Aug 2023 16:40:11 -0700
Subject: [PATCH] Modify the Subscribed Services import to just Trigger and
 modify the way to call those services call_async was missing

---
 ros2/intro_to_hellonode.md | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/ros2/intro_to_hellonode.md b/ros2/intro_to_hellonode.md
index d759ab5..4414bfe 100644
--- a/ros2/intro_to_hellonode.md
+++ b/ros2/intro_to_hellonode.md
@@ -182,10 +182,10 @@ Provides a service to quickly stop any motion currently executing on the robot.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.stop_the_robot_service(TriggerRequest())
+temp.stop_the_robot_service.call_async(Trigger.Request())
 ```
 
 ##### /stow_the_robot ([std_srvs/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html))
@@ -195,10 +195,10 @@ Provides a service to stow the robot arm.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.stow_the_robot_service(TriggerRequest())
+temp.stow_the_robot_service.call_async(Trigger.Request())
 ```
 
 ##### /home_the_robot ([std_srvs/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html))
@@ -208,10 +208,10 @@ Provides a service to home the robot joints.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.home_the_robot_service(TriggerRequest())
+temp.home_the_robot_service.call_async(Trigger.Request())
 ```
 
 ##### /switch_to_trajectory_mode ([std_srvs/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html))
@@ -221,10 +221,10 @@ Provides a service to quickly stop any motion currently executing on the robot.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.switch_to_trajectory_mode_service(TriggerRequest())
+temp.switch_to_trajectory_mode_service.call_async(Trigger.Request())
 ```
 
 ##### /switch_to_position_mode ([std_srvs/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html))
@@ -234,10 +234,10 @@ Provides a service to quickly stop any motion currently executing on the robot.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.switch_to_position_mode_service(TriggerRequest())
+temp.switch_to_position_mode_service.call_async(Trigger.Request())
 ```
 
 ##### /switch_to_navigation_mode ([std_srvs/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html))
@@ -247,8 +247,8 @@ Provides a service to quickly stop any motion currently executing on the robot.
 ```python
 # launch the stretch driver launch file beforehand
 
-from std_srvs.srv import TriggerRequest
+from std_srvs.srv import Trigger
 import hello_helpers.hello_misc as hm
 temp = hm.HelloNode.quick_create('temp')
-temp.switch_to_navigation_mode_service(TriggerRequest())
+temp.switch_to_navigation_mode_service.call_async(Trigger.Request())
 ```