67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
// Copyright 2019 Robert Bosch GmbH
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#include <memory>
|
|
|
|
#include "rclcpp/rclcpp.hpp"
|
|
#include "std_srvs/srv/empty.hpp"
|
|
|
|
#define NODE_NAME "test_service"
|
|
#define SERVICE_NAME "the_service"
|
|
|
|
class ServiceNode : public rclcpp::Node
|
|
{
|
|
public:
|
|
explicit ServiceNode(rclcpp::NodeOptions options)
|
|
: Node(NODE_NAME, options)
|
|
{
|
|
srv_ = this->create_service<std_srvs::srv::Empty>(
|
|
SERVICE_NAME,
|
|
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;
|
|
}
|