add_two_ints_server.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 
00038 #include "stdafx.h"
00039 #include <ros/ros.h>
00040 #include <actionlib/server/service_server.h>
00041 #include <actionlib/TwoIntsAction.h>
00042 
00043 bool add(const actionlib::TwoIntsGoal& req, actionlib::TwoIntsResult& res)
00044 {
00045   res.sum = req.a + req.b;
00046   ROS_INFO_NAMED("actionlib", "request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
00047   ROS_INFO_NAMED("actionlib", "   sending back response: [%ld]", (long int)res.sum);
00048   return true;
00049 }
00050 
00051 int main(int argc, char **argv)
00052 {
00053   ros::init(argc, argv, "add_two_ints_server");
00054   ros::NodeHandle n;
00055 
00056   actionlib::ServiceServer service = actionlib::advertiseService<actionlib::TwoIntsAction>(n, "add_two_ints", boost::bind(add, _1, _2));
00057 
00058   ros::spin();
00059 
00060   return 0;
00061 }


msvc_sdk_tutorials
Author(s): Daniel Stonier
autogenerated on Fri Jan 3 2014 12:16:36