Add service creation test

tracetools_test/src/test_service.cpp

@@ -0,0 +1,48 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_srvs/srv/empty.hpp"
+
+class ServiceNode : public rclcpp::Node
+{
+public:
+    ServiceNode(rclcpp::NodeOptions options) : Node("service_node", options)
+    {
+        srv_ = this->create_service<std_srvs::srv::Empty>(
+            "service",
+            std::bind(&ServiceNode::service_callback,
+                this,
+                std::placeholders::_1,
+                std::placeholders::_2,
+                std::placeholders::_3));
+    }
+
+private:
+    void service_callback(
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+        const std::shared_ptr<std_srvs::srv::Empty::Response> response)
+    {
+        // Nothing
+        (void)request_header;
+        (void)request;
+        (void)response;
+    }
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto service_node = std::make_shared<ServiceNode>(rclcpp::NodeOptions());
+    exec.add_node(service_node);
+
+    printf("spinning once\n");
+    exec.spin_once();
+
+    rclcpp::shutdown();
+    return 0;
+}