Statistics
| Branch: | Revision:

root / quad2 / arduino / src / ros_lib / examples / ServiceClient / ServiceClient.pde @ c1426757

History | View | Annotate | Download (707 Bytes)

1
/*
2
 * rosserial Service Client
3
 */
4

    
5
#include <ros.h>
6
#include <std_msgs/String.h>
7
#include <rosserial_arduino/Test.h>
8

    
9
ros::NodeHandle  nh;
10
using rosserial_arduino::Test;
11

    
12
ros::ServiceClient<Test::Request, Test::Response> client("test_srv");
13

    
14
std_msgs::String str_msg;
15
ros::Publisher chatter("chatter", &str_msg);
16

    
17
char hello[13] = "hello world!";
18

    
19
void setup()
20
{
21
  nh.initNode();
22
  nh.serviceClient(client);
23
  nh.advertise(chatter);
24
  while(!nh.connected()) nh.spinOnce();
25
  nh.loginfo("Startup complete");
26
}
27

    
28
void loop()
29
{
30
  Test::Request req;
31
  Test::Response res;
32
  req.input = hello;
33
  client.call(req, res);
34
  str_msg.data = res.output;
35
  chatter.publish( &str_msg );
36
  nh.spinOnce();
37
  delay(100);
38
}