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