.. _program_listing_file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_devices_sound.hpp:

Program Listing for File sound.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_devices_sound.hpp>` (``/tmp/ws/src/turtlebot3/turtlebot3_node/include/turtlebot3_node/devices/sound.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_NODE__DEVICES__SOUND_HPP_
   #define TURTLEBOT3_NODE__DEVICES__SOUND_HPP_
   
   #include <turtlebot3_msgs/srv/sound.hpp>
   #include <memory>
   #include <string>
   #include "turtlebot3_node/devices/devices.hpp"
   
   namespace robotis
   {
   namespace turtlebot3
   {
   namespace devices
   {
   class Sound : public Devices
   {
   public:
     static void request(
       rclcpp::Client<turtlebot3_msgs::srv::Sound>::SharedPtr client,
       turtlebot3_msgs::srv::Sound::Request req);
   
     explicit Sound(
       std::shared_ptr<rclcpp::Node> & nh,
       std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
       const std::string & server_name = "sound");
   
     void command(const void * request, void * response) override;
   
   private:
     rclcpp::Service<turtlebot3_msgs::srv::Sound>::SharedPtr srv_;
   };
   }  // namespace devices
   }  // namespace turtlebot3
   }  // namespace robotis
   #endif  // TURTLEBOT3_NODE__DEVICES__SOUND_HPP_