00001 /* 00002 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #include "ros/ros.h" 00029 #include "roscpp_tutorials/TwoInts.h" 00030 00031 // %Tag(CLASS_DECLARATION)% 00032 class AddTwo 00033 { 00034 public: 00035 bool add(roscpp_tutorials::TwoInts::Request& req, 00036 roscpp_tutorials::TwoInts::Response& res); 00037 }; 00038 // %EndTag(CLASS_DECLARATION)% 00039 00040 bool AddTwo::add(roscpp_tutorials::TwoInts::Request& req, 00041 roscpp_tutorials::TwoInts::Response& res) 00042 { 00043 res.sum = req.a + req.b; 00044 ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b); 00045 ROS_INFO(" sending back response: [%ld]", (long int)res.sum); 00046 return true; 00047 } 00048 00049 int main(int argc, char **argv) 00050 { 00051 ros::init(argc, argv, "add_two_ints_server"); 00052 ros::NodeHandle n; 00053 00054 // %Tag(SERVICE_SERVER)% 00055 AddTwo a; 00056 ros::ServiceServer ss = n.advertiseService("add_two_ints", &AddTwo::add, &a); 00057 // %EndTag(SERVICE_SERVER)% 00058 00059 ros::spin(); 00060 00061 return 0; 00062 } 00063