多项选择题
已知Service通信的代码,以下哪些语句会阻塞?
server.cppint main(int argc, char **argv){ ros::init(argc, argv, "greetings_server"); //① ros::NodeHandle nh; //② ros::ServiceServer service = nh.advertiseService("greetings", handle_function);//③ ros::spin(); //④ return 0;}
client.cppint main(int argc, char **argv){ ros::init(argc, argv, "greetings_client"); ros::NodeHandle nh; ros::ServiceClient client = nh.serviceClient("greetings"); //⑥ service_demo::Greeting srv; srv.request.name = "HAN"; srv.request.age = 20; if (client.call(srv)) //⑦ { .... } return 0;}
A.⑦
B.④
C.⑥
D.③