50 lines
1.1 KiB
C++
50 lines
1.1 KiB
C++
#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "std_srvs/srv/empty.hpp"
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class ServiceNode : public rclcpp::Node
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{
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public:
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explicit ServiceNode(rclcpp::NodeOptions options)
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: Node("service_node", options)
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{
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srv_ = this->create_service<std_srvs::srv::Empty>(
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"service",
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std::bind(
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&ServiceNode::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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}
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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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// Nothing
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(void)request_header;
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(void)request;
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(void)response;
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}
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
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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 service_node = std::make_shared<ServiceNode>(rclcpp::NodeOptions());
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exec.add_node(service_node);
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printf("spinning once\n");
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exec.spin_once();
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rclcpp::shutdown();
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return 0;
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}
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