service_wait_a_adv_b.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* Author: Josh Faust */

/*
 * Advertise a service
 */

#include "ros/ros.h"
#include <test_roscpp/TestStringString.h>

bool srvCallback(test_roscpp::TestStringString::Request &,
                 test_roscpp::TestStringString::Response &res)
{
  res.str = "B";
  return true;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "service_wait_a_adv_b");
  ros::NodeHandle nh;

  ros::service::waitForService("service_adv");
  ros::ServiceServer srv = nh.advertiseService("service_adv", srvCallback);
  nh.setParam("advertisers_ready", 1);
  ros::spin();
}