Demonstration

Author: bdm-k

src/agnocast_sample_application/CMakeLists.txt

@@ -96,6 +96,9 @@ target_include_directories(sim_time_timer PRIVATE
   ${agnocastlib_INCLUDE_DIRS}
 )
 
+add_executable(ros_client src/ros_client.cpp)
+ament_target_dependencies(ros_client rclcpp agnocast_sample_interfaces)
+
 add_library(listener_component SHARED src/minimal_subscriber.cpp)
 ament_target_dependencies(listener_component rclcpp rclcpp_components agnocastlib agnocast_sample_interfaces)
 target_include_directories(listener_component PRIVATE ${agnocastlib_INCLUDE_DIRS})
@@ -160,6 +163,9 @@ install(TARGETS no_rclcpp_client
 install(TARGETS sim_time_timer
   DESTINATION lib/${PROJECT_NAME})
 
+install(TARGETS ros_client
+  DESTINATION lib/${PROJECT_NAME})
+
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}/
 )

src/agnocast_sample_application/launch/ros_client.launch.xml

@@ -0,0 +1,5 @@
+<launch>
+    <node pkg="agnocast_sample_application" exec="ros_client" name="ros_client_node" output="screen">
+        <remap from="/sum_int_array" to="/srv/sum_int_array" />
+    </node>
+</launch>

src/agnocast_sample_application/launch/server.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-    <node pkg="agnocast_sample_application" exec="server" name="server_node" output="screen">
+    <node pkg="agnocast_sample_application" exec="server" name="server_node" output="screen" emulate_tty="true">
         <remap from="/sum_int_array" to="/srv/sum_int_array" />
 
         <env name="LD_PRELOAD" value="libagnocast_heaphook.so:$(env LD_PRELOAD '')" />

src/agnocast_sample_application/src/ros_client.cpp

@@ -0,0 +1,54 @@
+#include "agnocast_sample_interfaces/srv/sum_int_array.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include <thread>
+
+using namespace std::chrono_literals;
+
+constexpr size_t ARRAY_SIZE = 100;
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  auto node = rclcpp::Node::make_shared("ros_client");
+  std::thread spin_thread([node]() mutable {
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(node);
+    executor.spin();
+  });
+
+  auto client = node->create_client<agnocast_sample_interfaces::srv::SumIntArray>("sum_int_array");
+
+  while (!client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting.");
+      return 0;
+    }
+    RCLCPP_INFO(node->get_logger(), "Service not available, waiting again...");
+  }
+
+  auto request1 =
+    std::make_shared<typename agnocast_sample_interfaces::srv::SumIntArray::Request>();
+  for (size_t i = 1; i <= ARRAY_SIZE; ++i) {
+    request1->data.push_back(i);
+  }
+  client->async_send_request(
+    std::move(request1),
+    [node = node.get()](
+      rclcpp::Client<agnocast_sample_interfaces::srv::SumIntArray>::SharedFuture future) {
+      RCLCPP_INFO(node->get_logger(), "Result1: %ld", future.get()->sum);
+    });
+
+  auto request2 =
+    std::make_shared<typename agnocast_sample_interfaces::srv::SumIntArray::Request>();
+  for (size_t i = 0; i < ARRAY_SIZE; ++i) {
+    request2->data.push_back(i);
+  }
+  auto future = client->async_send_request(std::move(request2));
+  RCLCPP_INFO(node->get_logger(), "Result2: %ld", future.get()->sum);
+
+  spin_thread.join();
+  rclcpp::shutdown();
+  return 0;
+}