Make: Volume 95

source install/setup.bash

ros2 run my_rst_pkg my_client

You should see the server terminal receive the

request from the client containing two random

integers for a and b, each between 0 and 10. The

server sends the response back to the client,

which prints the sum to the terminal (Figure

N

).

You are welcome to run rqt_graph in the third

terminal (Figure

O

), but you will only see the

nodes — no service interface or lines connecting

them as you saw with topics.

MIGHTY MIDDLEWARE

It might seem odd that we spent all this time just

getting some pieces of software to talk to each

other, but these concepts form the basis for ROS.

Remember, ROS is a