add_two_ints_client.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #include <ros/ros.h> 00038 #include <actionlib/client/service_client.h> 00039 #include <actionlib/TwoIntsAction.h> 00040 00041 int main(int argc, char** argv) 00042 { 00043 ros::init(argc, argv, "add_two_ints_client"); 00044 if(argc != 3) 00045 { 00046 ROS_INFO_NAMED("actionlib", "Usage: add_two_ints_client X Y"); 00047 return 1; 00048 } 00049 00050 ros::NodeHandle n; 00051 actionlib::ServiceClient client = actionlib::serviceClient<actionlib::TwoIntsAction>(n, "add_two_ints"); 00052 client.waitForServer(); 00053 actionlib::TwoIntsGoal req; 00054 actionlib::TwoIntsResult resp; 00055 00056 req.a = atoi(argv[1]); 00057 req.b = atoi(argv[2]); 00058 00059 if(client.call(req, resp)) 00060 { 00061 ROS_INFO_NAMED("actionlib", "Sum: %ld", (long int)resp.sum); 00062 return 1; 00063 } 00064 00065 return 0; 00066 } 00067