{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "32ae0be7-5992-476f-ad74-e56705746f14",
   "metadata": {},
   "outputs": [],
   "source": [
    "! ../scripts/generate_cling_3rd_party.py roscpp"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "3ac2de29-2628-459a-9579-cdd8fd24f8c5",
   "metadata": {},
   "outputs": [],
   "source": [
    "! ../scripts/generate_cling_3rd_party.py roscpp_tutorials"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "599149ab-5807-422f-8ea9-7cbd9cbe86b1",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include \"load_roscpp.h\"\n",
    "#include \"load_roscpp_tutorials.h\""
   ]
  },
  {
   "cell_type": "markdown",
   "id": "87826d04-9d67-41ef-84f0-f7b3dae2ce75",
   "metadata": {},
   "source": [
    "Code below are taken from http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "56bceb25-ebaf-4214-8166-ff9e0d73c501",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include <ros/ros.h>\n",
    "#include <roscpp_tutorials/TwoInts.h>\n",
    "#include <cstdio>"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "de4077bd-7651-4327-87ea-8ec7d046e7e5",
   "metadata": {},
   "outputs": [],
   "source": [
    "bool add(roscpp_tutorials::TwoInts::Request  &req,\n",
    "         roscpp_tutorials::TwoInts::Response &res)\n",
    "{\n",
    "  res.sum = req.a + req.b;\n",
    "  ROS_INFO(\"request: x=%ld, y=%ld\", (long int)req.a, (long int)req.b);\n",
    "  ROS_INFO(\"sending back response: [%ld]\", (long int)res.sum);\n",
    "  return true;\n",
    "}"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "b4db6c4e-b2e1-41ca-9d82-a34ff76bfb4e",
   "metadata": {},
   "outputs": [],
   "source": [
    "int argc = 1;\n",
    "char *argv[1];\n",
    "argv[0] = new char[10];\n",
    "strcpy(argv[0], \"srv_client\");\n",
    "ros::init(argc, argv, \"srv_client\");\n",
    "\n",
    "ros::NodeHandle n;\n",
    "ros::ServiceClient client = n.serviceClient<roscpp_tutorials::TwoInts>(\"add_two_ints\");\n",
    "roscpp_tutorials::TwoInts srv;"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "99152bd9-981d-4977-ae50-85bde1e63173",
   "metadata": {},
   "outputs": [],
   "source": [
    "srv.request.a = 1;\n",
    "srv.request.b = 2;\n",
    "if (client.call(srv))\n",
    "{\n",
    "    printf(\"Sum: %ld\\n\", (long int)srv.response.sum);\n",
    "    ROS_INFO(\"Sum: %ld\\n\", (long int)srv.response.sum);\n",
    "}\n",
    "else\n",
    "{\n",
    "    printf(\"Failed to call service add_two_ints\\n\");\n",
    "    ROS_INFO(\"Failed to call service add_two_ints\\n\");\n",
    "}"
   ]
  }
 ],
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  "kernelspec": {
   "display_name": "C++17",
   "language": "C++17",
   "name": "xcpp17"
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   "codemirror_mode": "text/x-c++src",
   "file_extension": ".cpp",
   "mimetype": "text/x-c++src",
   "name": "c++",
   "version": "17"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}