Add service client support.

CMakeLists.txt

@@ -118,9 +118,13 @@ if(PICOROS_BUILD_EXAMPLES)
             thirdparty/Micro-CDR/include
   )
 
-  add_executable(srv_add2ints examples/srv_add2ints.c ${EXAMPLE_SRC})
-  target_include_directories(srv_add2ints PUBLIC ${EXAMPLE_INCLUDE})
-  target_link_libraries(srv_add2ints PRIVATE  ${EXAMPLE_LIBS})
+  add_executable(srv_server_add2ints examples/srv_server_add2ints.c ${EXAMPLE_SRC})
+  target_include_directories(srv_server_add2ints PUBLIC ${EXAMPLE_INCLUDE})
+  target_link_libraries(srv_server_add2ints PRIVATE  ${EXAMPLE_LIBS})
+
+  add_executable(srv_client_add2ints examples/srv_client_add2ints.c ${EXAMPLE_SRC})
+  target_include_directories(srv_client_add2ints PUBLIC ${EXAMPLE_INCLUDE})
+  target_link_libraries(srv_client_add2ints PRIVATE  ${EXAMPLE_LIBS})
 
   add_executable(talker examples/talker.c  ${EXAMPLE_SRC})
   target_include_directories(talker PUBLIC ${EXAMPLE_INCLUDE})

docs/Doxyfile

@@ -1,6 +1,6 @@
 # Project settings
 PROJECT_NAME           = "Pico-ROS"
-PROJECT_NUMBER         = $(shell cat ../version.txt)
+PROJECT_NUMBER         = ""
 PROJECT_BRIEF         = "A lightweight ROS client implementation for resource-constrained devices"
 OUTPUT_DIRECTORY      = generated
 CREATE_SUBDIRS        = YES

examples/example_types.h

@@ -1087,7 +1087,7 @@
 #define SRV_LIST(SRV, REQUEST, REPLY, FIELD, ARRAY, SEQUENCE) \
     SRV(srv_CancelGoal, \
         "action_msgs::srv::dds_::CancelGoal", \
-        "3d3c84653c1f96918086887e1dcb236faec88b81a5b14fd4cf4840065bcdf8af", \
+        "573d8b0a534451d7bc2ac8c5ffde8ac14b8593b7001175d0cd6516dcbeb8689a", \
         REQUEST( \
             FIELD(ros_GoalInfo, goal_info) \
         ), \
@@ -1098,7 +1098,7 @@
     ) \
     SRV(srv_AddTwoInts, \
         "example_interfaces::srv::dds_::AddTwoInts", \
-        "000c5fd92d6b2e1a05949348f584d6d652adea1e92d691792011ac2273508302", \
+        "e118de6bf5eeb66a2491b5bda11202e7b68f198d6f67922cf30364858239c81a", \
         REQUEST( \
             FIELD(int64_t, a) \
             FIELD(int64_t, b) \
@@ -1109,7 +1109,7 @@
     ) \
     SRV(srv_SetBool, \
         "std_srvs::srv::dds_::SetBool", \
-        "c62fbb99d94e1b25e8ef9e109f9581956bb1b3361a45a4e5810c36a90d29932e", \
+        "abe9e4bb6b41b40e6789712c00ec8871923e089af3f667a79992a428cff2da0a", \
         REQUEST( \
             FIELD(bool, data) \
         ), \
@@ -1120,7 +1120,7 @@
     ) \
     SRV(srv_Trigger, \
         "std_srvs::srv::dds_::Trigger", \
-        "d010825374ce8918e72bfd826c82603e60f45419e932ea976f807b74a863a199", \
+        "eeff2cd6fa5ad9d27cdf4dec64818317839b62f212a91e6b5304b634b2062c5f", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1131,7 +1131,7 @@
     ) \
     SRV(srv_ChangeState, \
         "lifecycle_msgs::srv::dds_::ChangeState", \
-        "d74c6f524e14cade7b67e7297190360ed749264af300524fc1456f27cc2a553a", \
+        "356fe34f0475a43acf54542013af4167b0e729f77ea22ffb045c6ad8e20668e5", \
         REQUEST( \
             FIELD(ros_Transition, transition) \
         ), \
@@ -1141,7 +1141,7 @@
     ) \
     SRV(srv_GetAvailableStates, \
         "lifecycle_msgs::srv::dds_::GetAvailableStates", \
-        "c2c0c12de6023822f284929577d4ca2862e0501150010966e8a90b632e4424de", \
+        "00a07d79d2207d71e81a8cbc1880e5d924cc16d4688ea8e8e06e443dc8f8aa1d", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1151,7 +1151,7 @@
     ) \
     SRV(srv_GetAvailableTransitions, \
         "lifecycle_msgs::srv::dds_::GetAvailableTransitions", \
-        "52a73c0b5d7489bee0df6ddb0aec45c41289d223ff225b58fe11d859ac8109a6", \
+        "59b7ecefce0982a8a844b9f2c4f14764c1c4543cc55e72924e2aa4adad83e9bc", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1161,7 +1161,7 @@
     ) \
     SRV(srv_GetState, \
         "lifecycle_msgs::srv::dds_::GetState", \
-        "77a9c844e7975f15bc2221e8bbebafc4d118afb78c7f7071eef91f83f940f2f6", \
+        "800a0a5aae599782b02932de0caf563f6dc4e7e94b794eadde075ba2cbef9795", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1171,7 +1171,7 @@
     ) \
     SRV(srv_GetLoggerLevels, \
         "rcl_interfaces::srv::dds_::GetLoggerLevels", \
-        "490ace424a5f5b14cb4e1e95030d7fe366d8df0fd9fe4d03b44d6009504fd2cc", \
+        "03bf1bebd0d6514c7ed0ba7c5e08dc9f2f39c759fe99e1e30ea4157d7674f72d", \
         REQUEST( \
             SEQUENCE(rstring, names) \
         ), \
@@ -1181,7 +1181,7 @@
     ) \
     SRV(srv_GetParameterTypes, \
         "rcl_interfaces::srv::dds_::GetParameterTypes", \
-        "87d7ec5ef545d4daa289d500025d31fb2437bc8b8365ca367161c4dac4be33fd", \
+        "da199c878688b3e530bdfe3ca8f74cb9fa0c303101e980a9e8f260e25e1c80ca", \
         REQUEST( \
             SEQUENCE(rstring, names) \
         ), \
@@ -1191,7 +1191,7 @@
     ) \
     SRV(srv_GetParameters, \
         "rcl_interfaces::srv::dds_::GetParameters", \
-        "135a9e1c3d7cebef792f6687d7ddf99949b21a0bd9a320d863a9110a3f5cf4d6", \
+        "bf9803d5c74cf989a5de3e0c2e99444599a627c7ff75f97b8c05b01003675cbc", \
         REQUEST( \
             SEQUENCE(rstring, names) \
         ), \
@@ -1201,7 +1201,7 @@
     ) \
     SRV(srv_ListParameters, \
         "rcl_interfaces::srv::dds_::ListParameters", \
-        "a1b0b5d6b967a5b8ac5bc8563c3ea678f349e312a6a4967227c5a96bc5ce38df", \
+        "3e6062bfbb27bfb8730d4cef2558221f51a11646d78e7bb30a1e83afac3aad9d", \
         REQUEST( \
             SEQUENCE(rstring, prefixes) \
             FIELD(uint64_t, depth) \
@@ -1212,7 +1212,7 @@
     ) \
     SRV(srv_SetLoggerLevels, \
         "rcl_interfaces::srv::dds_::SetLoggerLevels", \
-        "4e7768e0f4c749205f35bc05449f83fad18c42de52c16b1934d66c2f68ffd862", \
+        "3ff86cb4e91fbf9abae15c234ecc874448de6ece8e193401c077cf116e4f6d78", \
         REQUEST( \
             SEQUENCE(ros_LoggerLevel, levels) \
         ), \
@@ -1222,7 +1222,7 @@
     ) \
     SRV(srv_SetParameters, \
         "rcl_interfaces::srv::dds_::SetParameters", \
-        "130d46386b7e84ea9ecf60608a4d83cbe5e5cb7c6cc5b712b7a4e3a6c254e932", \
+        "56eed9a67e169f9cb6c1f987bc88f868c14a8fc9f743a263bc734c154015d7e0", \
         REQUEST( \
             SEQUENCE(ros_Parameter, parameters) \
         ), \
@@ -1232,7 +1232,7 @@
     ) \
     SRV(srv_SetParametersAtomically, \
         "rcl_interfaces::srv::dds_::SetParametersAtomically", \
-        "db0bd950ed5ed867a0e90b225e44dea382d762c0762ff3e0ee842190042a59e5", \
+        "0e192ef259c07fc3c07a13191d27002222e65e00ccec653ca05e856f79285fcd", \
         REQUEST( \
             SEQUENCE(ros_Parameter, parameters) \
         ), \
@@ -1242,7 +1242,7 @@
     ) \
     SRV(srv_ListNodes, \
         "composition_interfaces::srv::dds_::ListNodes", \
-        "57c879a1825b3fa15fd58e70d2e73223af6b9c45c7ae104cc107e73464d3a724", \
+        "13f30d73a74c844ee4bacf78f3680f08777cad137f10fbd6a648544cc7b59d2a", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1253,7 +1253,7 @@
     ) \
     SRV(srv_LoadNode, \
         "composition_interfaces::srv::dds_::LoadNode", \
-        "7d3496175f54f92d652547e144c9b2a3b22afd604f84ed70adfcd1cfe35801b5", \
+        "2e521ef6066fba6d7fc3a3b175d486709f01b4d738d9a59188858546fc8e5acd", \
         REQUEST( \
             FIELD(rstring, package_name) \
             FIELD(rstring, plugin_name) \
@@ -1273,7 +1273,7 @@
     ) \
     SRV(srv_UnloadNode, \
         "composition_interfaces::srv::dds_::UnloadNode", \
-        "95d5cfc357956740190c7685ac868d9c7c98dcb8c1416aae8eaa351422074e12", \
+        "dce562f83adc735ddcfe9dfb927b89293d4dd0fe2b8fc91e772fb83e970a43b0", \
         REQUEST( \
             FIELD(uint64_t, unique_id) \
         ), \
@@ -1284,7 +1284,7 @@
     ) \
     SRV(srv_AddDiagnostics, \
         "diagnostic_msgs::srv::dds_::AddDiagnostics", \
-        "e0b6572a07c2b3ca2c4f2acf742297661f6ceb50f5baa4f9305b6094cf950146", \
+        "6b91084c9f8bffd9b0c1f6883e0e8e491a831f4fc6c6aec77a4efaf3f1ea90b5", \
         REQUEST( \
             FIELD(rstring, load_namespace) \
         ), \
@@ -1295,7 +1295,7 @@
     ) \
     SRV(srv_SelfTest, \
         "diagnostic_msgs::srv::dds_::SelfTest", \
-        "3bb94b497e74e9beed2dddc7212d3ae596696d30413bd1550fe932fc20efb8a4", \
+        "df1e4e54a814a16ccc77471e9239618d46818e8d0e3b45ad6f8c34c6e2abfef6", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1307,7 +1307,7 @@
     ) \
     SRV(srv_GetMap, \
         "nav_msgs::srv::dds_::GetMap", \
-        "b531e302f1bd6a81f8a5e03453266c378b1f711b4296000c1c0f53a40e00a7c4", \
+        "c8ae77c9995b3554b5ba80e4d4d443f970ac65143102a1d893ec24fc07b31147", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1317,7 +1317,7 @@
     ) \
     SRV(srv_GetPlan, \
         "nav_msgs::srv::dds_::GetPlan", \
-        "f1bb9fab287948b4432a4a7e4f529e7ea6269cd06269ee8fcb911fdb4acd23c3", \
+        "234f7aff100f5edb8150366601687b027bcdc253db47decb88fff846193fe5e8", \
         REQUEST( \
             FIELD(ros_PoseStamped, start) \
             FIELD(ros_PoseStamped, goal) \
@@ -1329,7 +1329,7 @@
     ) \
     SRV(srv_LoadMap, \
         "nav_msgs::srv::dds_::LoadMap", \
-        "0f8fe3aac433c977d7c2f8b57ab1c3a17677e24880d76919b69e4208e99f5132", \
+        "1a192ac56c40fed2767dac26f0b371785372276bd465c902676d2dca135aae5a", \
         REQUEST( \
             FIELD(rstring, map_url) \
         ), \
@@ -1340,7 +1340,7 @@
     ) \
     SRV(srv_SetMap, \
         "nav_msgs::srv::dds_::SetMap", \
-        "5a83a0c20af4d79248fc3287524bf358b603fb5a05818b5ec85b50fa6e5d0266", \
+        "5e11a5b2ca53d8ae85b666a019f16c9904ebc787828f1f566c4e048a1ddedfb4", \
         REQUEST( \
             FIELD(ros_OccupancyGrid, map) \
             FIELD(ros_PoseWithCovarianceStamped, initial_pose) \
@@ -1351,7 +1351,7 @@
     ) \
     SRV(srv_SetCameraInfo, \
         "sensor_msgs::srv::dds_::SetCameraInfo", \
-        "27dc5497730fdb6930e66cb879c210e31a83022acc5bbc999f24f55286029f87", \
+        "a10cca5d33dc637c8d49db50ab288701a3592bb9cd854f2f16a0659613b68984", \
         REQUEST( \
             FIELD(ros_CameraInfo, camera_info) \
         ), \
@@ -1362,7 +1362,7 @@
     ) \
     SRV(srv_Empty, \
         "std_srvs::srv::dds_::Empty", \
-        "458eaf200a3f63d9cc53d19436edebc0c140ef4c93ca75d5bd4ce19fd7759e35", \
+        "5888399dedec5ccc85ea6451949fd2c9f97bfdf963f9a588821639fcd31b5d19", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \
@@ -1372,7 +1372,7 @@
     ) \
     SRV(srv_GetInteractiveMarkers, \
         "visualization_msgs::srv::dds_::GetInteractiveMarkers", \
-        "7fa7e0830e3cbe9c15927a29fdc09fedcd9a86757e375f29ce6b0744cb0b6905", \
+        "bfdfaa861f4a8422b4ec3bd02c6681e4a45a83bdc2913d8facdf923d8ad1376a", \
         REQUEST( \
             FIELD(uint8_t, empty) \
         ), \

examples/odometry_listener.c

@@ -2,10 +2,10 @@
  * @file    odometry_listener.c
  * @brief   Example odometry subscriber node for picoros
  * @date    2025-May-27
- * 
+ *
  * @details This example demonstrates a ROS subscriber node that listens to
  *          odometry messages on the "odom" topic and prints the pose data.
- * 
+ *
  * @copyright Copyright (c) 2025 Ubiquity Robotics
  *******************************************************************************/
 
@@ -27,7 +27,7 @@ void odometry_callback(uint8_t* rx_data, size_t data_len);
 // Example Subscriber
 picoros_subscriber_t sub_odo = {
     .topic = {
-        .name = "odom",
+        .name = "robot/odometry",
         .type = ROSTYPE_NAME(ros_Odometry),
         .rihs_hash = ROSTYPE_HASH(ros_Odometry),
     },
@@ -36,7 +36,7 @@ picoros_subscriber_t sub_odo = {
 
 // Example node
 picoros_node_t node = {
-    .name = "listener",
+    .name = "picoros",
 };
 
 void odometry_callback(uint8_t* rx_data, size_t data_len){

examples/odometry_publisher.c

@@ -2,13 +2,13 @@
  * @file    odometry_publisher.c
  * @brief   Example odometry publisher node for picoros
  * @date    2025-May-27
- * 
+ *
  * @details This example demonstrates a ROS publisher node that publishes
  *          simulated odometry messages on the "odom" topic.
- * 
+ *
  * @copyright Copyright (c) 2025 Ubiquity Robotics
  *******************************************************************************/
-  
+
 #include <stdio.h>
 #include <stdint.h>
 #include "picoros.h"
@@ -24,15 +24,15 @@ extern int picoros_parse_args(int argc, char **argv, picoros_interface_t* ifx);
 // Example Publisher
 picoros_publisher_t pub_odo = {
     .topic = {
-        .name = "odom",
+        .name = "robot/odometry",
         .type = ROSTYPE_NAME(ros_Odometry),
         .rihs_hash = ROSTYPE_HASH(ros_Odometry),
     },
 };
 
 // Example node
 picoros_node_t node = {
-    .name = "talker",
+    .name = "picoros",
 };
 
 // Buffer for publication, used from this thread