69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
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#include <memory>
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#include <chrono>
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#include "rclcpp/rclcpp.hpp"
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#include "std_srvs/srv/empty.hpp"
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using namespace std::chrono_literals;
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class PingNode : public rclcpp::Node
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{
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public:
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PingNode(rclcpp::NodeOptions options) : Node("ping_node", options)
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{
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srv_ = this->create_service<std_srvs::srv::Empty>(
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"pong",
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std::bind(&PingNode::service_callback,
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this,
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std::placeholders::_1,
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std::placeholders::_2,
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std::placeholders::_3));
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client_ = this->create_client<std_srvs::srv::Empty>(
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"ping");
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timer_ = this->create_wall_timer(
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500ms,
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std::bind(&PingNode::timer_callback, this));
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}
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private:
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void service_callback(
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<std_srvs::srv::Empty::Request> request,
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const std::shared_ptr<std_srvs::srv::Empty::Response> response)
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{
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(void)request_header;
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(void)request;
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(void)response;
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RCLCPP_INFO(this->get_logger(), "got request");
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rclcpp::shutdown();
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}
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void timer_callback()
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{
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auto req = std::make_shared<std_srvs::srv::Empty::Request>();
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client_->async_send_request(req);
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}
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
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rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
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rclcpp::TimerBase::SharedPtr timer_;
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};
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int main(int argc, char* argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::executors::SingleThreadedExecutor exec;
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auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
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exec.add_node(ping_node);
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printf("spinning\n");
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exec.spin();
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// Will actually be called inside the node's service callback
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rclcpp::shutdown();
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return 0;
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}
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