Added services examples

userland/CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(ros_middleware_implementation REQUIRED)
 find_package(simple_msgs REQUIRED)
+find_package(userland_msgs REQUIRED)
 
 ament_package()
 
@@ -27,7 +28,8 @@ function(build_executable executable)
   ament_target_dependencies(${executable}
     "rclcpp"
     "ros_middleware_implementation"
-    "simple_msgs")
+    "simple_msgs"
+    "userland_msgs")
 
   install(TARGETS ${executable} DESTINATION bin)
 
@@ -37,7 +39,8 @@ function(build_executable executable)
     ament_target_dependencies(${executable}__${middleware_impl_tmp}
       "rclcpp"
       "${middleware_impl_tmp}"
-      "simple_msgs")
+      "simple_msgs"
+      "userland_msgs")
 
     install(TARGETS ${executable}__${middleware_impl_tmp} DESTINATION bin)
   endforeach()
@@ -110,3 +113,7 @@ build_executable(listener src/ros1_like/listener.cpp)
 build_executable(different_groups src/explicit/different_groups.cpp)
 build_executable(two_nodes src/explicit/two_nodes.cpp)
 # build_executable(two_nodes_no_intra src/explicit/two_nodes_no_intra.cpp)
+
+# Build services examples
+build_executable(add_two_ints_client src/add_two_ints_client.cpp)
+build_executable(add_two_ints_server src/add_two_ints_server.cpp)

userland/package.xml

@@ -11,8 +11,14 @@
   <build_depend>rclcpp</build_depend>
   <build_depend>ros_middleware_implementation</build_depend>
   <build_depend>simple_msgs</build_depend>
+  <build_depend>userland_msgs</build_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>ros_middleware_implementation</exec_depend>
   <exec_depend>simple_msgs</exec_depend>
+  <exec_depend>userland_msgs</exec_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
 </package>

userland/src/add_two_ints_client.cpp

@@ -0,0 +1,49 @@
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <iostream>
+#include <string>
+#include <sys/time.h>
+#include <thread>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <simple_msgs/AllBuiltinTypes.h>
+#include <simple_msgs/AllDynamicArrayTypes.h>
+#include <simple_msgs/AllPrimitiveTypes.h>
+#include <simple_msgs/AllStaticArrayTypes.h>
+#include <simple_msgs/Nested.h>
+#include <simple_msgs/String.h>
+#include <simple_msgs/Uint32.h>
+
+#include <userland_msgs/AddTwoInts.h>
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+
+  auto node = rclcpp::Node::make_shared("add_two_ints_client");
+
+  auto client = node->create_client<userland_msgs::AddTwoInts>("add_two_ints");
+  auto request = std::make_shared<userland_msgs::AddTwoInts::Request>();
+  auto response = std::make_shared<userland_msgs::AddTwoInts::Response>();
+  request->a = 2;
+  request->b = 3;
+
+  auto f = client->async_send_request(request, response);
+
+  std::future_status status;
+  do
+  {
+    rclcpp::spin_some(node);
+    status = f.wait_for(std::chrono::milliseconds(100));
+  } while(status != std::future_status::ready && rclcpp::ok());
+
+  if(std::future_status::ready == status)
+  {
+    std::cout << "FUTURE READY" << std::endl;
+    std::cout << f.get()->sum << std::endl;
+  }
+
+  return 0;
+}

userland/src/add_two_ints_server.cpp

@@ -0,0 +1,40 @@
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <iostream>
+#include <string>
+#include <sys/time.h>
+#include <thread>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <simple_msgs/AllBuiltinTypes.h>
+#include <simple_msgs/AllDynamicArrayTypes.h>
+#include <simple_msgs/AllPrimitiveTypes.h>
+#include <simple_msgs/AllStaticArrayTypes.h>
+#include <simple_msgs/Nested.h>
+#include <simple_msgs/String.h>
+#include <simple_msgs/Uint32.h>
+
+#include <userland_msgs/AddTwoInts.h>
+
+void add(const std::shared_ptr<userland_msgs::AddTwoInts::Request> req,
+         std::shared_ptr<userland_msgs::AddTwoInts::Response> res)
+{
+  std::cout << "Incoming request" << std::endl;
+  std::cout << "a: " << req->a << " b: " << req->b << std::endl;
+  res->sum = req->a + req->b;
+}
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+
+  auto node = rclcpp::Node::make_shared("add_two_ints_server");
+
+  node->create_service<userland_msgs::AddTwoInts>("add_two_ints", add);
+
+  rclcpp::spin(node);
+
+  return 0;
+}

userland_msgs/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(userland_msgs)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+include_directories(${rosidl_default_generators_INCLUDE_DIRS})
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/AddTwoInts.srv"
+  DEPENDENCIES builtin_msgs
+)
+
+ament_package()

userland_msgs/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>userland_msgs</name>
+  <version>0.0.0</version>
+  <description>A package containing simple message definitions.</description>
+  <maintainer email="[email protected]">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_msgs</build_depend>
+  <build_depend>simple_msgs</build_depend>
+
+  <exec_depend>builtin_msgs</exec_depend>
+  <exec_depend>simple_msgs</exec_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+</package>

userland_msgs/srv/AddTwoInts.srv

@@ -0,0 +1,4 @@
+int64 a
+int64 b
+---
+int64 sum