added examples of server clients

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_cpp/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_simple_client_cpp)
+
+find_package(catkin REQUIRED COMPONENTS
+  ros_services_examples
+  roscpp
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+    ros_services_examples 
+    roscpp
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+add_executable(simple_client_cpp_example_node 
+  ros/src/simple_client_cpp_example_node.cpp)
+
+target_link_libraries(simple_client_cpp_example_node
+  ${catkin_LIBRARIES}
+)
+
+add_executable(client_cpp_class_based_example_node 
+  ros/src/client_cpp_class_based_example_node.cpp)
+
+target_link_libraries(client_cpp_class_based_example_node
+  ${catkin_LIBRARIES}
+)

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_cpp/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package>
+  <name>ros_simple_client_cpp</name>
+  <version>0.0.0</version>
+  <description>The ros_simple_client_cpp package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>ros_services_examples</build_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>ros_services_examples</run_depend>
+  <run_depend>roscpp</run_depend>
+</package>

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_cpp/ros/src/client_cpp_class_based_example_node.cpp

@@ -0,0 +1,77 @@
+/**
+ * simple_client_cpp_example_node.cpp
+ *
+ * Created on: September 10, 2014
+ * Author: Shehzad Ahmed
+ **/
+
+#include <ros/ros.h>
+#include <ros_services_examples/NodeInfoQuery.h>
+#include <ros_services_examples/NodeInfoQueryRequest.h>
+#include <ros_services_examples/NodeInfoQueryResponse.h>
+
+class DemoClass
+{
+    public:
+        DemoClass(const ros::NodeHandle &nh):
+            nh_(nh)
+        {
+            client_ = nh_.serviceClient<ros_services_examples::NodeInfoQuery>("node_info_query");
+        }
+
+        ~DemoClass()
+        {
+        }
+
+        void call_service()
+        {
+            if(client_.exists()) {
+                ROS_INFO("server is running.....");
+                ros_services_examples::NodeInfoQuery node_info_query;
+                ros_services_examples::NodeInfoQueryRequest request;
+                request.node_name.data = "simple_client_cpp_example_node";
+
+                node_info_query.request = request;
+
+                if(client_.call(node_info_query)) {
+                    ROS_INFO_STREAM("Response recieved :" << node_info_query.response.node_id.data);
+                } else {
+                    ROS_INFO("Response failed.....");
+                }
+            } else {
+                    ROS_INFO("server is not running.....");
+            }
+        }
+
+    private:
+        ros::ServiceClient client_;
+        ros::NodeHandle nh_;
+};
+
+int main(int argc, char *argv[])
+{
+    /**
+     * Initilization of node
+     **/
+    ros::init(argc, argv, "simple_client_cpp_example_node");
+
+    /**
+     * Initilization of node handle
+     **/
+    ros::NodeHandle nh;
+
+    /**
+     * Printing Information message on the console.
+     **/
+    ROS_INFO("simple_client_cpp_example_node is now running");
+
+    DemoClass demo_class(nh);
+
+    demo_class.call_service();
+
+    /**
+     * Running a thread to keep spinning untill the user kills the node.
+     **/
+
+    return 0;
+}

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_cpp/ros/src/simple_client_cpp_example_node.cpp

@@ -0,0 +1,52 @@
+/**
+ * simple_client_cpp_example_node.cpp
+ *
+ * Created on: September 10, 2014
+ * Author: Shehzad Ahmed
+ **/
+
+#include <ros/ros.h>
+#include <ros_services_examples/NodeInfoQuery.h>
+#include <ros_services_examples/NodeInfoQueryRequest.h>
+#include <ros_services_examples/NodeInfoQueryResponse.h>
+
+
+int main(int argc, char *argv[])
+{
+    /**
+     * Initilization of node
+     **/
+    ros::init(argc, argv, "simple_client_cpp_example_node");
+
+    /**
+     * Initilization of node handle
+     **/
+    ros::NodeHandle nh;
+
+    /**
+     * Printing Information message on the console.
+     **/
+    ROS_INFO("simple_client_cpp_example_node is now running");
+
+    ros::ServiceClient client = nh.serviceClient<ros_services_examples::NodeInfoQuery>("node_info_query");
+
+    if(client.exists()) {
+        ROS_INFO("server is running.....");
+        ros_services_examples::NodeInfoQuery node_info_query;
+        ros_services_examples::NodeInfoQueryRequest request;
+        request.node_name.data = "simple_client_cpp_example_node";
+
+        node_info_query.request = request;
+
+        if(client.call(node_info_query)) {
+            ROS_INFO_STREAM("Response recieved :" << node_info_query.response.node_id.data);
+        } else {
+            ROS_INFO("Response failed.....");
+        }
+
+    } else {
+        ROS_INFO("server is not running.....");
+    }
+
+    return 0;
+}

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_python/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_simple_client_python)
+
+find_package(catkin REQUIRED COMPONENTS
+  ros_services_examples
+  rospy
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+    ros_services_examples 
+    rospy
+)

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_python/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package>
+  <name>ros_simple_client_python</name>
+  <version>0.1.0</version>
+  <description>The ros_simple_client_python package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>ros_services_examples</build_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>ros_services_examples</run_depend>
+  <run_depend>rospy</run_depend>
+</package>

fc_ros_tutorials/demo_ros_server_client/ros_simple_client_python/ros/scripts/simple_client_python_example_node

@@ -0,0 +1,32 @@
+#!/usr/bin/env python
+"""
+This script demonstrates the way of requesting service.
+"""
+#-*- encoding: utf-8 -*-
+__author__ = 'shehzad ahmed'
+import rospy
+from ros_services_examples.srv import *
+
+def initlize_node():
+    '''
+    Initilize node and spin which simply keeps python 
+    from exiting until this node is stopped
+    '''
+    rospy.init_node('simple_client_python_example_node', anonymous=False)
+    rospy.loginfo("simple_client_python_example_node is now running")
+
+    rospy.wait_for_service('node_info_query')
+
+    try:
+        node_info_service = rospy.ServiceProxy('node_info_query', NodeInfoQuery)
+        req = NodeInfoQueryRequest()
+        req.node_name.data = "simple_client_python_example_node"
+        resp = node_info_service(req)
+        rospy.loginfo("Response recieved : %d",resp.node_id.data)
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    initlize_node()

fc_ros_tutorials/demo_ros_server_client/ros_simple_server_cpp/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_simple_server_cpp)
+
+find_package(catkin REQUIRED COMPONENTS
+  ros_services_examples
+  roscpp
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+    ros_services_examples 
+    roscpp
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+add_executable(simple_server_cpp_example_node 
+  ros/src/simple_server_cpp_example_node.cpp)
+
+target_link_libraries(simple_server_cpp_example_node
+  ${catkin_LIBRARIES}
+)
+
+add_executable(server_cpp_class_based_example_node 
+  ros/src/server_cpp_class_based_example_node.cpp)
+
+target_link_libraries(server_cpp_class_based_example_node
+  ${catkin_LIBRARIES}
+)

fc_ros_tutorials/demo_ros_server_client/ros_simple_server_cpp/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package>
+  <name>ros_simple_server_cpp</name>
+  <version>0.0.0</version>
+  <description>The ros_simple_server_cpp package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>ros_services_examples</build_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>ros_services_examples</run_depend>
+  <run_depend>roscpp</run_depend>
+</package>

fc_ros_tutorials/demo_ros_server_client/ros_simple_server_cpp/ros/src/server_cpp_class_based_example_node.cpp

@@ -0,0 +1,63 @@
+/*
+ * server_cpp_class_based_example_node.cpp
+ *
+ * Created on: September 10, 2014
+ * Author: Shehzad Ahmed
+ */
+#include <ros/ros.h>
+#include <ros_services_examples/NodeInfoQuery.h>
+#include <ros_services_examples/NodeInfoQueryRequest.h>
+#include <ros_services_examples/NodeInfoQueryResponse.h>
+
+class DemoClass
+{
+    public:
+        DemoClass(ros::NodeHandle nh):
+            nh_(nh)
+        {
+            service = nh.advertiseService("node_info_query", &DemoClass::serviceCB, this);
+        }
+
+        ~DemoClass()
+        {
+        }
+
+        bool serviceCB(ros_services_examples::NodeInfoQueryRequest &req, 
+               ros_services_examples::NodeInfoQueryResponse &resp)
+        {
+            ROS_INFO_STREAM("Request recieved :" << req.node_name.data);
+            resp.node_id.data = 1.0;
+            return true;
+        }
+
+    private:
+        ros::ServiceServer service;
+        ros::NodeHandle nh_;
+
+};
+
+int main(int argc, char *argv[])
+{
+    /**
+     * Initilization of node
+     **/
+    ros::init(argc, argv, "server_cpp_class_based_example_node");
+
+    /**
+     * Initilization of node handle
+     **/
+    ros::NodeHandle nh;
+
+    /**
+     * Printing Information message on the console.
+     **/
+    ROS_INFO("server_cpp_class_based_example_node is now running");
+
+    DemoClass demo_class(nh);
+    /**
+     * Running a thread to keep spinning untill the user kills the node.
+     **/
+    ros::spin();
+
+    return 0;
+}