dora/rclrust/examples/client.rs

use anyhow::Result;
use rclrust::{qos::QoSProfile, rclrust_info};
use rclrust_msg::example_interfaces::srv::{AddTwoInts, AddTwoInts_Request};

fn main() -> Result<()> {
    let ctx = rclrust::init()?;
    let node = ctx.create_node("examples_client")?;
    let logger = node.logger();

    let client = node.create_client::<AddTwoInts>("add_ints", &QoSProfile::default())?;

    while !client.service_is_available()? {
        std::thread::sleep(std::time::Duration::from_secs_f32(0.1));
    }

    let req = AddTwoInts_Request { a: 17, b: 25 };
    let task = client.send_request(&req)?;
    rclrust_info!(
        logger,
        "{} + {} = {}",
        req.a,
        req.b,
        task.wait_response(&ctx)?.unwrap().sum
    );

    Ok(())
}