feat(les2): Student service

src/les_interface/CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HardwareStatus.msg"
+  "srv/ServiceStudent.srv"
 )
 ament_export_dependencies(rosidl_default_runtime)
 # uncomment the following section in order to fill in

src/les_interface/srv/ServiceStudent.srv

@@ -0,0 +1,16 @@
+# Student info service message
+string sname
+---
+int32 snumber
+
+## format  <type> <name> <optional_default_value>
+##primitive message types
+#    bool
+#    byte
+#    char
+#    float32, float64
+#    int8, uint8
+#    int16, uint16
+#    int32, uint32
+#    int64, uint64
+#    string

src/les_pkg/CMakeLists.txt

@@ -17,15 +17,23 @@ add_executable(les1_clock src/les1/clock.cpp)
 add_executable(les1_publisher src/les1/publisher.cpp)
 add_executable(les1_subscriber src/les1/subscriber.cpp)
 
+add_executable(les2_service src/les2/service_server.cpp)
+add_executable(les2_service_client src/les2/service_client.cpp)
+
 ament_target_dependencies(les1_clock rclcpp)
 ament_target_dependencies(les1_publisher rclcpp std_msgs geometry_msgs les_interface)
 ament_target_dependencies(les1_subscriber rclcpp std_msgs geometry_msgs les_interface)
 
+ament_target_dependencies(les2_service rclcpp les_interface)
+ament_target_dependencies(les2_service_client rclcpp les_interface)
+
 install (
   TARGETS
     les1_clock
     les1_publisher
     les1_subscriber
+    les2_service
+    les2_service_client
   DESTINATION lib/${PROJECT_NAME}
 )
 

src/les_pkg/src/les2/service_client.cpp

@@ -0,0 +1,62 @@
+/* les2/service_client.cpp
+ * Basic example of a service client node.
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T: Implement template
+ * [11-09-2025] Wessel T: (BASE) Working service client
+ */
+
+#include <chrono>
+#include "rclcpp/rclcpp.hpp"
+
+#include "les_interface/srv/service_student.hpp"
+
+using namespace std::chrono;
+using les_interface::srv::ServiceStudent;
+
+class NodeLes2ServiceClient : public rclcpp::Node {
+public:
+	NodeLes2ServiceClient()
+	: Node("node_les2_service_client")
+	{
+		client_ = this->create_client<ServiceStudent>("student_service_server");
+		timer_ = this->create_wall_timer(
+			seconds(3),
+      std::bind(&NodeLes2ServiceClient::send_request, this)
+    );
+	}
+
+private:
+	void send_request() {
+		if (!client_->wait_for_service(seconds(1))) {
+			RCLCPP_WARN(this->get_logger(), "Service not available");
+			return;
+		}
+
+		auto request = std::make_shared<ServiceStudent::Request>();
+		request->sname = "Wessel";
+
+		auto future = client_->async_send_request(request,
+			std::bind(&NodeLes2ServiceClient::handle_response, this, std::placeholders::_1)
+    );
+	}
+
+	void handle_response(rclcpp::Client<ServiceStudent>::SharedFuture future) {
+		auto response = future.get();
+		RCLCPP_INFO(this->get_logger(), "Received student id: %ld", response->snumber);
+	}
+
+	rclcpp::Client<ServiceStudent>::SharedPtr client_;
+	rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char **argv) {
+	rclcpp::init(argc, argv);
+
+	auto node = std::make_shared<NodeLes2ServiceClient>();
+	rclcpp::spin(node);
+	rclcpp::shutdown();
+
+  return 0;
+}

src/les_pkg/src/les2/service_server.cpp

@@ -0,0 +1,58 @@
+/* node_template.cpp
+ * Basic node template for ROS2
+ *
+ * Reviewed by: <x>
+ * Changelog:
+ * [04-09-2025] Wessel T: Implement template
+ */
+
+#include <cstdlib>
+#include "rclcpp/rclcpp.hpp"
+
+#include "les_interface/srv/service_vector.hpp"
+
+using les_interface::srv::ServiceStudent;
+
+class NodeLes2ServiceServer : public rclcpp::Node {
+public:
+  NodeLes2ServiceServer()
+  : Node("node_les2_service_server")
+  {
+    student_service_server_ =
+      this->create_service<ServiceStudent>(
+        "student_service_server",
+        std::bind(
+          &NodeLes2ServiceServer::callback_student_service,
+          this,
+          std::placeholders::_1,
+          std::placeholders::_2
+        )
+      );
+
+    RCLCPP_INFO(this->get_logger(), "Service Server started");
+  }
+
+  void callback_student_service(
+    const ServiceStudent::Request::SharedPtr request,
+    ServiceStudent::Response::SharedPtr response
+  ) {
+    if (request->sname == "Tilmann") {
+      response->snumber = 666;
+    } else {
+      response->snumber = 42;
+    }
+  }
+
+private:
+  rclcpp::Service<ServiceStudent>::SharedPtr student_service_server_;
+};
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+
+  auto node = std::make_shared<NodeLes2ServiceServer>();
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+
+  return 0;
+}