ServiceClient.cpp

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/*
 * rosserial Service Client
 */
 
#include <ros.h>
#include <std_msgs/String.h>
#include <rosserial_mbed/Test.h>
 
ros::NodeHandle  nh;
using rosserial_mbed::Test;
 
ros::ServiceClient<Test::Request, Test::Response> client("test_srv");
 
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
 
char hello[13] = "hello world!";
 
int main() {
    nh.initNode();
    nh.serviceClient(client);
    nh.advertise(chatter);
    while (!nh.connected()) nh.spinOnce();
    nh.loginfo("Startup complete");
    while (1) {
        Test::Request req;
        Test::Response res;
        req.input = hello;
        client.call(req, res);
        str_msg.data = res.output;
        chatter.publish( &str_msg );
        nh.spinOnce();
        wait_ms(100);
    }
}