new_contents: #!/usr/bin/env python
  
  import rospy
  
  from vigir_synthesis_msgs.srv import LTLSynthesis
  
  def ltl_synthesis_client(ltl_spec, name):
      '''Client'''
  
      rospy.wait_for_service('ltl_synthesis')
      
      try:
          ltl_synthesis_srv = rospy.ServiceProxy('ltl_synthesis', LTLSynthesis)
          response = ltl_synthesis_srv(ltl_spec, name)
          
          #DEBUG
          print response.automaton
          print 'LTL Synthesis error code: ', response.error_code
          
          return response
      
      except rospy.ServiceException as e:
          print("Service call failed: %s" % e)
  
  if __name__ == "__main__":
      ltl_synthesis_client()
subject: Add LTL Synthesis client