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