1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
|
/*
* Copyright (C) 2014 Open Source Robotics Foundation
*
* 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 <iostream>
#include <ignition/msgs.hh>
#include <ignition/transport.hh>
//////////////////////////////////////////////////
/// \brief Service response callback.
void responseCb(const ignition::msgs::StringMsg &_rep, const bool _result)
{
if (_result)
std::cout << "Response: [" << _rep.data() << "]" << std::endl;
else
std::cerr << "Service call failed" << std::endl;
}
//////////////////////////////////////////////////
int main(int argc, char **argv)
{
// Create a transport node.
ignition::transport::Node node;
// Prepare the input parameters.
ignition::msgs::StringMsg req;
req.set_data("HELLO");
std::cout << "Press <CTRL-C> to exit" << std::endl;
// Request the "/echo" service.
node.Request("/echo", req, responseCb);
// Zzzzzz.
ignition::transport::waitForShutdown();
}
|
