ServiceServer.cpp

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/*
 * rosserial Service Server
 */
 
#include <ros.h>
#include <std_msgs/String.h>
#include <rosserial_mbed/Test.h>
 
ros::NodeHandle  nh;
using rosserial_mbed::Test;
 
int i;
void callback(const Test::Request & req, Test::Response & res) {
    if ((i++)%2)
        res.output = "hello";
    else
        res.output = "world";
}
 
ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback);
 
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
 
char hello[13] = "hello world!";
 
int main(void) {
    nh.initNode();
    nh.advertiseService(server);
    nh.advertise(chatter);
 
 
    while (1) {
        str_msg.data = hello;
        chatter.publish( &str_msg );
        nh.spinOnce();
        wait_ms(10);
    }
}