service_adv_zombie.cpp
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00001 /*
00002  * Copyright (c) 2014 Max Schwarz <max.schwarz@uni-bonn.de>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Advertise a service, then crash horribly and leaving a "zombie service"
00031 // behind. Needed for service_call_zombie test.
00032 
00033 #include <ros/ros.h>
00034 #include <test_roscpp/TestStringString.h>
00035 
00036 #include <stdlib.h>
00037 
00038 bool srvCallback(test_roscpp::TestStringString::Request &,
00039                  test_roscpp::TestStringString::Response &res)
00040 {
00041   res.str = "B";
00042   return true;
00043 }
00044 
00045 int main(int argc, char** argv)
00046 {
00047         ros::init(argc, argv, "dying_node");
00048 
00049         ros::NodeHandle nh;
00050         ros::ServiceServer srv = nh.advertiseService("phantom_service", srvCallback);
00051 
00052         // Allow for some time for registering on the master
00053         for(int i = 0; i < 10; ++i)
00054         {
00055                 ros::spinOnce();
00056                 usleep(100*1000);
00057         }
00058 
00059         // Exit immediately without calling any atexit hooks
00060         _Exit(0);
00061 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 03:45:23