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Here is simple code to do this, adapted from the examples at A Gentle Introduction to ROS. The last three lines are key, since they call the service. Remember to #include the relevant .h file for the service you are using.

// This program waits for the clear service to be available
// (potentially waiting for turtlesim to start up), and
// clears the screen.
#include <ros/ros.h>
#include <std_srvs/Empty.h>

int main(int argc, char **argv) {
  ros::init(argc, argv, "clear_screen");
  ros::NodeHandle nh;

  // Wait until the clear service is available, which
  // indicates that turtlesim has started up, and has
  // set the background color parameters.
  ros::service::waitForService("clear");  //this is optional

  // Get turtlesim to pick up the new parameter values.
  ros::ServiceClient clearClient
    = nh.serviceClient<std_srvs::Empty>("/clear");
  std_srvs::Empty srv;
  clearClient.call(srv);
}