In this section, we are going to create ROS nodes, which can use the services definition that we defined already. The service nodes we are going to create can send a string message as a request to the server and the server node will send another message as a response.
Navigate to mastering_ros_demo_pkg/src, and find nodes with the names demo_service_server.cpp and demo_service_client.cpp.
The demo_service_server.cpp is the server, and its definition is as follows:
#include "ros/ros.h"
#include "mastering_ros_demo_pkg/demo_srv.h"
#include <iostream>
#include <sstream>
using namespace std;
bool demo_service_callback(mastering_ros_demo_pkg::demo_srv::Request &req,
mastering_ros_demo_pkg::demo_srv::Response &res) {
std::stringstream ss;
ss << "Received Here";
res.out = ss.str();
ROS_INFO("From Client [%s], Server says [%s]",req.in.c_str(),res.out.c_str());
return true;
}
int main(int argc, char **argv)
{
ros::init...