AddTwoIntsServer.java
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00001 import ros.*;
00002 import ros.communication.*;
00003 import ros.pkg.test_rosjava_jni.srv.*;
00004 
00005 public class AddTwoIntsServer {
00006     public static void main(String args[]) 
00007     throws InterruptedException, RosException {
00008         final Ros ros = Ros.getInstance();
00009         ros.init("AddTwoIntsServer");
00010         
00011         NodeHandle n = ros.createNodeHandle();        
00012         
00013         ServiceServer.Callback<AddTwoInts.Request,AddTwoInts.Response> scb = 
00014         new ServiceServer.Callback<AddTwoInts.Request,AddTwoInts.Response>() {
00015             public AddTwoInts.Response call(AddTwoInts.Request request) {
00016                 AddTwoInts.Response res = new AddTwoInts.Response();
00017                 res.sum = request.a + request.b;
00018                 ros.logInfo("request: x=" + request.a + ", y=" + request.b);
00019                 ros.logInfo("sending back response: " + res.sum); 
00020                 return res;
00021             }
00022         };            
00023         
00024         ServiceServer<AddTwoInts.Request,AddTwoInts.Response,AddTwoInts> srv = 
00025         n.advertiseService("add_two_ints", new AddTwoInts(), scb);
00026         
00027         ros.logInfo("Ready to add two ints."); 
00028         
00029         n.spin();
00030     }
00031 }


test_rosjava_jni
Author(s): Jason Wolfe (jawolfe@willowgarage.com)
autogenerated on Sun Oct 5 2014 22:54:22