nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
Diff: examples/ServiceClient.cpp
- Revision:
- 3:dff241b66f84
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/ServiceClient.cpp Sat Nov 12 23:53:04 2011 +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
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