//server端
#include "rclcpp/rclcpp.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"
#include
#include
#include
using namespace std::chrono_literals;
int main(int argc,char ** argv)
{
rclcpp::init(argc,argv);
auto pnode=std::make_shared("clientNode");
auto pclient=pnode->create_client("service1"); //
auto prequest=std::make_shared();
prequest->a=atoll(argv[1]);
prequest->b=atoll(argv[2]);
while(!pclient->wait_for_service(3s))
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not availabel,waiting again...");
}
auto result=pclient->async_send_request(prequest);
if(rclcpp::spin_until_future_complete(pnode,result)==rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"result=%d",result.get()->sum );
}
else
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"failed to call service im sorry");
};
rclcpp::shutdown();
return 0;
}
//client端
#include "rclcpp/rclcpp.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"
#include "memory.h"
void add(const std::shared_ptr prequest,
std::shared_ptr presponse)
{
presponse->sum=prequest->a+prequest->b;
RCLCPP_INFO( rclcpp::get_logger("rclcpp"),"a=%d,b=%d,result:%d",prequest->a,prequest->b,presponse->sum );
}
int main(int argc,char ** argv)
{
rclcpp::init(argc,argv);
//define a node
auto pnode=std::make_shared("serverNode");
auto pservice=pnode->create_service("service1",&add);
rclcpp::spin(pnode);
rclcpp::shutdown();
}
//cmakelists.txt
cmake_minimum_required(VERSION 3.8)
project(server)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(example_interfaces REQUIRED)
add_executable(server_cpp src/server_cpp.cpp)
add_executable(client_cpp src/client_cpp.cpp)
ament_target_dependencies(server_cpp rclcpp example_interfaces)
ament_target_dependencies(client_cpp rclcpp example_interfaces)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(TARGETS
server_cpp
client_cpp
DESTINATION lib/${PROJECT_NAME}
)
ament_package()
//package.xml
server
0.0.0
TODO: Package description
actorsun
TODO: License declaration
ament_cmake
rclcpp
example_interfaces
ament_lint_auto
ament_lint_common
ament_cmake