AddTwoIntsClient.java

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import ros.*;
import ros.communication.*;
import ros.pkg.test_rosjava_jni.srv.*;

public class AddTwoIntsClient {
    public static void main(String args[]) 
    throws InterruptedException, RosException, NumberFormatException {
        final Ros ros = Ros.getInstance();
                
                if (args.length != 2) {
                        ros.logInfo("usage: add_two_ints_client X Y");
                        System.exit(1); 
                }
                
        ros.init("AddTwoIntsClient");        
        NodeHandle n = ros.createNodeHandle();        
                
                ServiceClient<AddTwoInts.Request,AddTwoInts.Response,AddTwoInts>client= 
                n.serviceClient("add_two_ints" , new AddTwoInts(), false);
        
                AddTwoInts.Request rq = new AddTwoInts.Request();
                
                rq.a = Long.parseLong(args[0]); 
                rq.b = Long.parseLong(args[1]); 
                
                try {
                        AddTwoInts.Response resp = client.call(rq); 
                        ros.logInfo("Sum: " + resp.sum); 
                }
                catch (RosException e) {
                        ros.logError("Failed to call service add_two_ints"); 
                        System.exit(1); 
                }
                
                //If don't call n.shutdown, client thread will hang until ctrl+c
                n.shutdown(); 
    }
}