ExampleService.cpp
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00001 /*
00002  * rosserial_embeddedlinux service server example
00003  *
00004  * Advertises a service it offers. Prints the string sent to the service
00005  * and responds with an alternating string.
00006  * The service request can be sent from the ROS command line with e.g.
00007  * $ xxx
00008  */
00009 
00010 #include <ros.h>
00011 #include <std_msgs/String.h>
00012 #include <rosserial_examples_msgs/Test.h>
00013 #include <stdio.h>
00014 
00015 ros::NodeHandle  nh;
00016 using rosserial_examples::Test;
00017 #define ROSSRVR_IP "192.168.15.122"
00018 
00019 int i=0;
00020 void svcCallback(const Test::Request & req, Test::Response & res){
00021         if((i++)%2)
00022                 res.output = "hello";
00023         else
00024                 res.output = "ros";
00025         printf("Service request message: \"%s\" received, responding with: %s", res.output);
00026 }
00027 ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&svcCallback);
00028 
00029 int main()
00030 {
00031         nh.initNode(ROSSRVR_IP);
00032         nh.advertiseService(server);
00033 
00034         while(1) {
00035                 nh.spinOnce();
00036                 sleep(1);
00037         }
00038 }


rosserial_embeddedlinux
Author(s): Paul Bouchier
autogenerated on Mon Oct 6 2014 07:10:50