Diff: examples/ServiceServer.cpp

Revision:

0:cb1dffdc7d05

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/ServiceServer.cpp	Sun Feb 15 10:54:04 2015 +0000
@@ -0,0 +1,42 @@
+//#define COMPILE_SERVICESERVER_CODE_ROSSERIAL
+#ifdef  COMPILE_SERVICESERVER_CODE_ROSSERIAL
+/*
+ * rosserial Service Server
+ */
+
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <rosserial_arduino/Test.h>
+
+ros::NodeHandle  nh;
+using rosserial_arduino::Test;
+
+int i;
+void callback(const Test::Request & req, Test::Response & res) {
+    if ((i++)%2)
+        res.output = "hello";
+    else
+        res.output = "world";
+}
+
+ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback);
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+int main(void) {
+    nh.initNode();
+    nh.advertiseService(server);
+    nh.advertise(chatter);
+
+
+    while (1) {
+        str_msg.data = hello;
+        chatter.publish( &str_msg );
+        nh.spinOnce();
+        wait_ms(10);
+    }
+}
+#endif
\ No newline at end of file