c 2b 2b server service ros

1#include "ros/ros.h"
2#include "beginner_tutorials/AddTwoInts.h"
3
4bool add(beginner_tutorials::AddTwoInts::Request  &req,
5         beginner_tutorials::AddTwoInts::Response &res)
6{
7  res.sum = req.a + req.b;
8  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
9  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
10  return true;
11}
12
13int main(int argc, char **argv)
14{
15  ros::init(argc, argv, "add_two_ints_server");
16  ros::NodeHandle n;
17
18  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
19  ROS_INFO("Ready to add two ints.");
20  ros::spin();
21
22  return 0;
23}
24

1#include "ros/ros.h"
2#include "beginner_tutorials/AddTwoInts.h"
3#include <cstdlib>
4
5int main(int argc, char **argv)
6{
7  ros::init(argc, argv, "add_two_ints_client");
8  if (argc != 3)
9  {
10    ROS_INFO("usage: add_two_ints_client X Y");
11    return 1;
12  }
13
14  ros::NodeHandle n;
15  ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
16  beginner_tutorials::AddTwoInts srv;
17  srv.request.a = atoll(argv[1]);
18  srv.request.b = atoll(argv[2]);
19  if (client.call(srv))
20  {
21    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
22  }
23  else
24  {
25    ROS_ERROR("Failed to call service add_two_ints");
26    return 1;
27  }
28
29  return 0;
30}
31