/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
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*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#include <ros/ros.h>
#include <actionlib/client/service_client.h>
#include <actionlib/TwoIntsAction.h>

int main(int argc, char ** argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3) {
    ROS_INFO_NAMED("actionlib", "Usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  actionlib::ServiceClient client = actionlib::serviceClient<actionlib::TwoIntsAction>(n,
      "add_two_ints");
  client.waitForServer();
  actionlib::TwoIntsGoal req;
  actionlib::TwoIntsResult resp;

  req.a = atoi(argv[1]);
  req.b = atoi(argv[2]);

  if (client.call(req, resp)) {
    ROS_INFO_NAMED("actionlib", "Sum: %ld", (int64_t)resp.sum);
    return 1;
  }

  return 0;
}
