C++ server service ros

C++ client service ros

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
  beginner_tutorials::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  if (client.call(srv))
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

Source: wiki.ros.org

C++ server service ros

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request  &req,
         beginner_tutorials::AddTwoInts::Response &res)
{
  res.sum = req.a + req.b;
  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

Source: wiki.ros.org

Similar codes

1 vote165 views1 answer
How print fload wiht 2 decimal in c++
C++
0 vote166 views1 answer
Why return 0 in int main
C++
-1 vote168 views1 answer
Int to hexadecimal in c++
C++
0 vote173 views1 answer
How to use printf with <cinttypes> c++
C++
1 vote180 views1 answer
HOW TO TURN LINK TO BUTTON IN MVC
C++
0 vote186 views1 answer
Namespace file linking c++
C++
0 vote143 views2 answers
See Compilation Time in c++ Program
C++
1 vote167 views1 answer
Swap using Function template in c++
C++
1 vote177 views1 answer
Forward declaration c++
C++
1 vote173 views1 answer
C++ milliseconds
C++