add_two_ints_server.cpp
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/ros.h"
00029 #include "roscpp_tutorials/TwoInts.h"
00030 
00031 bool add(roscpp_tutorials::TwoInts::Request  &req,
00032          roscpp_tutorials::TwoInts::Response &res )
00033 {
00034   res.sum = req.a + req.b;
00035   ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
00036   ROS_INFO("  sending back response: [%ld]", (long int)res.sum);
00037   return true;
00038 }
00039 
00040 int main(int argc, char **argv)
00041 {
00042   ros::init(argc, argv, "add_two_ints_server");
00043   ros::NodeHandle n;
00044 
00045 // %Tag(SERVICE_SERVER)%
00046   ros::ServiceServer service = n.advertiseService("add_two_ints", add);
00047 // %EndTag(SERVICE_SERVER)%
00048 
00049   ros::spin();
00050 
00051   return 0;
00052 }
00053 


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Sun Mar 20 2016 04:51:17