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<example_interfaces::srv::AddTwoInts>("add_two_ints");
while (!client->wait_for_service(1_s)) {
if (!rclcpp::ok()) {
printf("add_two_ints_client was interrupted while waiting for the service. Exiting.\n");
return 0;
}
printf("service not available, waiting again...\n");
}
auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
request->a = 2;
request->b = 3;
auto future_result = client->async_send_request(request);
// Wait for the result.
if (rclcpp::spin_until_future_complete(node, future_result) ==
rclcpp::executor::FutureReturnCode::SUCCESS)
{
printf("Result of add_two_ints: %zd\n", future_result.get()->sum);
} else {
printf("add_two_ints_client_async was interrupted. Exiting.\n");
}
rclcpp::shutdown();
return 0;
}
void* browser_thread(void* limit) {
type=BROWSER;
for(int i=0;i<*(int*)limit;i++) {
wait_for_service();
randomize();
}
return 0;
}
int start_child()
{
pid_t mypid = getpid();
setpgid(mypid, mypid);
pid_t child;
child = fork();
switch (child) {
case 0:
close(pipe_fd[1]);
dup2(pipe_fd[0],0);
if (proc_stat.argc > 0) {
return execvp(proc_stat.path, proc_stat.argv);
} else {
char *b = NULL;
b = malloc((sizeof("exec ") - 1) + strlen(proc_stat.path) + 1);
strcpy(b, "exec ");
strcat(b, proc_stat.path);
return execl("/bin/sh", "sh", "-c", b, (char *) NULL);
}
case -1:
fprintf(stderr, "launch: fork failed: %s\n", strerror(errno));
return -1;
default:
close(pipe_fd[0]);
proc_stat.pid = child;
int a=1;
mylog("start child pid=%d",child);
if(wait_for_service()){
proc_stat.running = RUNNING;
wait_for_stop();
clean_child();
}else{
clean_child();
}
}
}
int do_exec(int nargs, char **args)
{
return wait_for_service(args[1]);
}
