.. _program_listing_file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_examples_include_read_write_node.hpp:

Program Listing for File read_write_node.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_examples_include_read_write_node.hpp>` (``/tmp/ws/src/dynamixel_sdk/dynamixel_sdk_examples/include/read_write_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef READ_WRITE_NODE_HPP_
   #define READ_WRITE_NODE_HPP_
   
   #include <cstdio>
   #include <memory>
   #include <string>
   
   #include "rclcpp/rclcpp.hpp"
   #include "rcutils/cmdline_parser.h"
   #include "dynamixel_sdk/dynamixel_sdk.h"
   #include "dynamixel_sdk_custom_interfaces/msg/set_position.hpp"
   #include "dynamixel_sdk_custom_interfaces/srv/get_position.hpp"
   
   
   class ReadWriteNode : public rclcpp::Node
   {
   public:
     using SetPosition = dynamixel_sdk_custom_interfaces::msg::SetPosition;
     using GetPosition = dynamixel_sdk_custom_interfaces::srv::GetPosition;
   
     ReadWriteNode();
     virtual ~ReadWriteNode();
   
   private:
     rclcpp::Subscription<SetPosition>::SharedPtr set_position_subscriber_;
     rclcpp::Service<GetPosition>::SharedPtr get_position_server_;
   
     int present_position;
   };
   
   #endif  // READ_WRITE_NODE_HPP_