oaram_server.cpp

#include <cinttypes>
#include <cstdio>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"

#include "rcl_interfaces/srv/describe_parameters.hpp"
#include "rcl_interfaces/srv/get_parameter_types.hpp"
#include "rcl_interfaces/srv/get_parameters.hpp"
#include "rcl_interfaces/srv/list_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters_atomically.hpp"

class ServerNode : public rclcpp::Node
{
public:
  explicit ServerNode()
  : Node("param_server")
  {
    // Create a callback function for when service requests are received.
    auto callback_ =
      [this](const std::shared_ptr<rmw_request_id_t> request_header,
        const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
        std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response) -> void
      {
        (void)this;
        (void)request_header;
        (void)request;
                                        (void)response;
      };

    // Create a service that will use the callback function to handle requests.
    srv_ = create_service<rcl_interfaces::srv::GetParameters>("get_parameters", callback_);
  }

private:
  rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr srv_;
};

int main(int argc, char * argv[])
{
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);

  rclcpp::init(argc, argv);

  auto node = std::make_shared<ServerNode>();
  rclcpp::spin(node);

  rclcpp::shutdown();
  return 0;
}