Diff: examples/ServiceClient.cpp

Revision:

0:cb1dffdc7d05

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/ServiceClient.cpp	Sun Feb 15 10:54:04 2015 +0000
@@ -0,0 +1,40 @@
+//#define COMPILE_SERVICECLIENT_CODE_ROSSERIAL
+#ifdef  COMPILE_SERVICECLIENT_CODE_ROSSERIAL
+
+/*
+ * rosserial Service Client
+ */
+
+#include <ros.h>
+#include <std_msgs/String.h>
+
+#include <rosserial_arduino/Test.h>
+
+ros::NodeHandle  nh;
+using rosserial_arduino::Test;
+
+ros::ServiceClient<Test::Request, Test::Response> client("test_srv");
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+int main() {
+    nh.initNode();
+    nh.serviceClient(client);
+    nh.advertise(chatter);
+    while (!nh.connected()) nh.spinOnce();
+    nh.loginfo("Startup complete");
+    while (1) {
+        Test::Request req;
+        Test::Response res;
+        req.input = hello;
+        client.call(req, res);
+        str_msg.data = res.output;
+        chatter.publish( &str_msg );
+        nh.spinOnce();
+        wait_ms(100);
+    }
+}
+#endif
\ No newline at end of file