arduino代码

libraries/Rosserial_Arduino_Library/examples/ServiceClient/ServiceClient.pde

@@ -0,0 +1,38 @@
+/*
+ * rosserial Service Client
+ */
+
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <rosserial_arduino/Test.h>
+
+ros::NodeHandle  nh;
+using rosserial_arduino::Test;
+
+ros::ServiceClient<Test::Request, Test::Response> client("test_srv");
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+void setup()
+{
+  nh.initNode();
+  nh.serviceClient(client);
+  nh.advertise(chatter);
+  while(!nh.connected()) nh.spinOnce();
+  nh.loginfo("Startup complete");
+}
+
+void loop()
+{
+  Test::Request req;
+  Test::Response res;
+  req.input = hello;
+  client.call(req, res);
+  str_msg.data = res.output;
+  chatter.publish( &str_msg );
+  nh.spinOnce();
+  delay(100);
+}

libraries/Rosserial_Arduino_Library/examples/ServiceClient/client.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+""" 
+Sample code to use with ServiceClient.pde
+"""
+
+import roslib; roslib.load_manifest("rosserial_arduino")
+import rospy
+
+from rosserial_arduino.srv import *
+
+def callback(req):
+    print "The arduino is calling! Please send it a message:"
+    t = TestResponse()
+    t.output = raw_input()
+    return t
+
+rospy.init_node("service_client_test")
+rospy.Service("test_srv", Test, callback)
+rospy.spin()