Gary Servin
/
rosserial_mbed
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Dependencies: Servo mbed rosserial_mbed_lib
Fork of
rosserial_mbed
by 
nucho
Diff: examples/ServiceServer.cpp
- Revision:
- 3:dff241b66f84
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/ServiceServer.cpp Sat Nov 12 23:53:04 2011 +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