ServiceServer.cpp

00001 //#define COMPILE_SERVICESERVER_CODE_ROSSERIAL
00002 #ifdef  COMPILE_SERVICESERVER_CODE_ROSSERIAL
00003 /*
00004  * rosserial Service Server
00005  */
00006 
00007 #include <ros.h>
00008 #include <std_msgs/String.h>
00009 #include <rosserial_arduino/Test.h>
00010 
00011 ros::NodeHandle  nh;
00012 using rosserial_arduino::Test;
00013 
00014 int i;
00015 void callback(const Test::Request & req, Test::Response & res) {
00016     if ((i++)%2)
00017         res.output = "hello";
00018     else
00019         res.output = "world";
00020 }
00021 
00022 ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback);
00023 
00024 std_msgs::String str_msg;
00025 ros::Publisher chatter("chatter", &str_msg);
00026 
00027 char hello[13] = "hello world!";
00028 
00029 int main(void) {
00030     nh.initNode();
00031     nh.advertiseService(server);
00032     nh.advertise(chatter);
00033 
00034 
00035     while (1) {
00036         str_msg.data = hello;
00037         chatter.publish( &str_msg );
00038         nh.spinOnce();
00039         wait_ms(10);
00040     }
00041 }
00042 #endif