add_two_ints_server.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <actionlib/server/service_server.h>
00039 #include <actionlib/TwoIntsAction.h>
00040 
00041 bool add(const actionlib::TwoIntsGoal & req, actionlib::TwoIntsResult & res)
00042 {
00043   res.sum = req.a + req.b;
00044   ROS_INFO_NAMED("actionlib", "request: x=%ld, y=%ld", (int64_t)req.a, (int64_t)req.b);
00045   ROS_INFO_NAMED("actionlib", "   sending back response: [%ld]", (int64_t)res.sum);
00046   return true;
00047 }
00048 
00049 int main(int argc, char ** argv)
00050 {
00051   ros::init(argc, argv, "add_two_ints_server");
00052   ros::NodeHandle n;
00053 
00054   actionlib::ServiceServer service = actionlib::advertiseService<actionlib::TwoIntsAction>(n,
00055       "add_two_ints",
00056       boost::bind(add, _1, _2));
00057 
00058   ros::spin();
00059 
00060   return 0;
00061 }


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sat Feb 16 2019 03:21:28