{"id":3533,"date":"2025-08-08T09:38:41","date_gmt":"2025-08-08T09:38:41","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=3533"},"modified":"2026-01-10T22:02:29","modified_gmt":"2026-01-10T22:02:29","slug":"how-to-build-and-test-a-ros-2-service-client-in-cpp","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/","title":{"rendered":"How to Build and Test a ROS 2 Service Client in C++"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"3533\" class=\"elementor elementor-3533\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-e28ab35 e-flex e-con-boxed e-con e-parent\" data-id=\"e28ab35\" data-element_type=\"container\" data-e-type=\"container\" id=\"content\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-62ab6e3 e-con-full e-flex e-con e-child\" data-id=\"62ab6e3\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-62ab203 elementor-align-center elementor-widget elementor-widget-post-info\" data-id=\"62ab203\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"post-info.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul class=\"elementor-inline-items elementor-icon-list-items elementor-post-info\">\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item elementor-repeater-item-2c98363 elementor-inline-item\" itemprop=\"about\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text elementor-post-info__item elementor-post-info__item--type-terms\">\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-post-info__terms-list\">\n\t\t\t\t<span class=\"elementor-post-info__terms-list-item\">ROS 2<\/span>, <span class=\"elementor-post-info__terms-list-item\">Tutorials<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-0650e10 e-con-full e-flex e-con e-child\" data-id=\"0650e10\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-ac19582 elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"ac19582\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"75\" height=\"75\" viewBox=\"0 0 75 75\" fill=\"none\"><path d=\"M74.9999 75H13.1889V73.0002H71.5859L0.460938 1.87521L1.87515 0.460999L73.0001 71.586V13.1889H74.9999V75Z\" fill=\"white\"><\/path><\/svg>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-47aa245d e-flex e-con-boxed e-con e-parent\" data-id=\"47aa245d\" data-element_type=\"container\" data-e-type=\"container\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-206a001 elementor-widget elementor-widget-image\" data-id=\"206a001\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"1920\" height=\"1080\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\" class=\"attachment-full size-full wp-image-3538\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp 1920w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1-300x169.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1-1024x576.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1-768x432.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1-1536x864.webp 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1-18x10.webp 18w\" sizes=\"(max-width: 1920px) 100vw, 1920px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4bc31ca3 elementor-widget elementor-widget-text-editor\" data-id=\"4bc31ca3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-start=\"266\" data-end=\"497\">In the previous tutorial, we learned how to build a <strong data-start=\"318\" data-end=\"342\">ROS 2 Service Server<\/strong> that takes two integers and returns their sum.<br \/>Now it\u2019s time to create the <strong data-start=\"418\" data-end=\"433\">client node<\/strong> that sends requests to that service \u2014 this time, using <strong data-start=\"489\" data-end=\"496\">C++<\/strong>.<br \/><br \/><\/p>\n<p data-start=\"499\" data-end=\"536\">This tutorial will guide you through:<\/p>\n<ul data-start=\"538\" data-end=\"736\">\n<li data-start=\"538\" data-end=\"589\">\n<p data-start=\"540\" data-end=\"589\">Understanding how a ROS 2 service client works.<\/p>\n<\/li>\n<li data-start=\"590\" data-end=\"628\">\n<p data-start=\"592\" data-end=\"628\">Implementing a client node in C++.<\/p>\n<\/li>\n<li data-start=\"629\" data-end=\"690\">\n<p data-start=\"631\" data-end=\"690\">Sending requests and receiving responses from the server.<\/p>\n<\/li>\n<li data-start=\"691\" data-end=\"736\">\n<p data-start=\"693\" data-end=\"736\">Testing the setup with different scenarios.<\/p>\n<\/li>\n<\/ul>\n<p>\u00a0<\/p>\n<p data-start=\"738\" data-end=\"895\">If you prefer Python, check out our <a class=\"cursor-pointer\" target=\"_new\" rel=\"noopener\" data-start=\"774\" data-end=\"894\">Python version of the service client<\/a>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-12a4ca0 elementor-widget elementor-widget-text-editor\" data-id=\"12a4ca0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1080\" data-end=\"1112\">\ud83e\udd14 What\u2019s a ROS 2 Service Client?<\/h3><p data-start=\"662\" data-end=\"862\">A <strong data-start=\"664\" data-end=\"682\">service client<\/strong> is a node that sends a request to a <strong data-start=\"719\" data-end=\"737\">service server<\/strong>, asking it to perform a specific task \u2014 such as adding two numbers. The server processes the request and returns a response.<\/p><p data-start=\"864\" data-end=\"894\">In this case, our client will:<\/p><ul><li>Send a request with two integers (<code data-start=\"932\" data-end=\"935\">a<\/code> and <code data-start=\"940\" data-end=\"943\">b<\/code>).<\/li><li>Wait for the service to respond with their sum.<\/li><li>Print the result to the terminal.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e5ca195 elementor-widget elementor-widget-image\" data-id=\"e5ca195\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"800\" height=\"450\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-1024x576.gif\" class=\"attachment-large size-large wp-image-3040\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-1024x576.gif 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-300x169.gif 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-768x432.gif 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-1536x864.gif 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-18x10.gif 18w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-1320x743.gif 1320w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Services-Server-600x338.gif 600w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-324d52d elementor-widget elementor-widget-text-editor\" data-id=\"324d52d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1777\" data-end=\"1809\"><img decoding=\"async\" class=\"emoji\" role=\"img\" draggable=\"false\" src=\"https:\/\/s.w.org\/images\/core\/emoji\/16.0.1\/svg\/1f9e0.svg\" alt=\"\ud83e\udde0\" \/> How Services Work in ROS 2<\/h3><p>ROS 2 services follow a <strong data-start=\"1835\" data-end=\"1858\">client-server model<\/strong>:<br \/><br \/><\/p><ul><li><span style=\"text-wrap-mode: initial; background-color: transparent;\">A <\/span><strong style=\"text-wrap-mode: initial; background-color: transparent;\" data-start=\"1866\" data-end=\"1884\">Service Server<\/strong><span style=\"text-wrap-mode: initial; background-color: transparent;\"> node offers functionality (e.g., summing two numbers)<\/span><\/li><li data-start=\"1811\" data-end=\"1859\"><span style=\"text-wrap-mode: initial; background-color: transparent;\">A <\/span><strong style=\"text-wrap-mode: initial; background-color: transparent;\" data-start=\"1946\" data-end=\"1964\">Service Client<\/strong><span style=\"text-wrap-mode: initial; background-color: transparent;\"> node requests that functionality when needed<\/span><\/li><li data-start=\"1811\" data-end=\"1859\">The server processes the request and sends a <strong data-start=\"2060\" data-end=\"2072\">response<\/strong> back<br \/><br \/><\/li><\/ul><p data-start=\"2081\" data-end=\"2226\">This is fundamentally different from topics. Topics are about continuous data streams. Services are about one-time actions with expected outputs.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-dd95e0f elementor-widget elementor-widget-text-editor\" data-id=\"dd95e0f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"3475\" data-end=\"3506\">\ud83e\udde0 The Full Code<\/h3><p data-start=\"3508\" data-end=\"3685\">Now that we\u2019ve defined the service interface, let\u2019s create the actual <strong data-start=\"3578\" data-end=\"3593\">C++ node<\/strong> that will act as the client. Here&#8217;s the full code, followed by an explanation of each part.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-66d9afa elementor-widget elementor-widget-code-highlight\" data-id=\"66d9afa\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>#include <rclcpp\/rclcpp.hpp>\r\n#include <memory>\r\n#include <chrono>\r\n#include \"arduinobot_msgs\/srv\/add_two_ints.hpp\"\r\n\r\nusing namespace std::chrono_literals;\r\nusing std::placeholders::_1;\r\n\r\nclass SimpleServiceClient : public rclcpp::Node\r\n{\r\npublic:\r\n    SimpleServiceClient(int a, int b) : Node(\"simple_service_client\")\r\n    {\r\n        client_ = create_client<arduinobot_msgs::srv::AddTwoInts>(\"add_two_ints\");\r\n\r\n        while (!client_->wait_for_service(1s))\r\n        {\r\n            if (!rclcpp::ok())\r\n            {\r\n                RCLCPP_ERROR(this->get_logger(), \"Interrupted while waiting for the service. Exiting.\");\r\n                return;\r\n            }\r\n            RCLCPP_INFO(this->get_logger(), \"Service not available, waiting again...\");\r\n        }\r\n\r\n        auto request = std::make_shared<arduinobot_msgs::srv::AddTwoInts::Request>();\r\n        request->a = a;\r\n        request->b = b;\r\n\r\n        auto result = client_->async_send_request(request, \r\n            std::bind(&SimpleServiceClient::responseCallback, this, _1));\r\n    }\r\n\r\nprivate:\r\n    void responseCallback(rclcpp::Client<arduinobot_msgs::srv::AddTwoInts>::SharedFuture future)\r\n    {\r\n        if (future.valid())\r\n        {\r\n            RCLCPP_INFO(this->get_logger(), \"Service Response: %ld\", future.get()->sum);\r\n        }\r\n        else\r\n        {\r\n            RCLCPP_ERROR(this->get_logger(), \"Service Failure\");\r\n        }\r\n    }\r\n\r\n    rclcpp::Client<arduinobot_msgs::srv::AddTwoInts>::SharedPtr client_;\r\n};\r\n\r\nint main(int argc, char* argv[])\r\n{\r\n    rclcpp::init(argc, argv);\r\n\r\n    if (argc != 3)\r\n    {\r\n        RCLCPP_ERROR(rclcpp::get_logger(\"rclcpp\"), \"Wrong number of arguments! Usage: simple_service_client A B\");\r\n        return 1;\r\n    }\r\n\r\n    auto node = std::make_shared<SimpleServiceClient>(atoi(argv[1]), atoi(argv[2]));\r\n    rclcpp::spin(node);\r\n    rclcpp::shutdown();\r\n    return 0;\r\n}\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4b5438c elementor-widget elementor-widget-text-editor\" data-id=\"4b5438c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"3475\" data-end=\"3506\">\ud83e\udde9\u00a0Let\u2019s break down the code<\/h3><p data-start=\"3508\" data-end=\"3685\">Let\u2019s go through the code of our <code data-start=\"443\" data-end=\"469\">simple_service_server.py<\/code> line by line, so you fully understand how the node is built and how the service is created and exposed in ROS 2.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-dd8ffa0 elementor-widget elementor-widget-code-highlight\" data-id=\"dd8ffa0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>#include <rclcpp\/rclcpp.hpp>\r\n#include <memory>\r\n#include <chrono>\r\n#include \"arduinobot_msgs\/srv\/add_two_ints.hpp\"\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f981deb elementor-widget elementor-widget-text-editor\" data-id=\"f981deb\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p data-start=\"4127\" data-end=\"4138\">We include:<\/p><ul data-start=\"4139\" data-end=\"4310\"><li data-start=\"4139\" data-end=\"4175\"><p data-start=\"4141\" data-end=\"4175\"><code data-start=\"4141\" data-end=\"4149\">rclcpp<\/code> \u2192 main ROS 2 C++ library.<\/p><\/li><li data-start=\"4176\" data-end=\"4211\"><p data-start=\"4178\" data-end=\"4211\"><code data-start=\"4178\" data-end=\"4186\">memory<\/code> \u2192 for <code data-start=\"4193\" data-end=\"4210\">std::shared_ptr<\/code>.<\/p><\/li><li data-start=\"4212\" data-end=\"4254\"><p data-start=\"4214\" data-end=\"4254\"><code data-start=\"4214\" data-end=\"4222\">chrono<\/code> \u2192 for time intervals like <code data-start=\"4249\" data-end=\"4253\">1s<\/code>.<\/p><\/li><li data-start=\"4255\" data-end=\"4310\"><p data-start=\"4257\" data-end=\"4310\">Our custom service definition from <code data-start=\"4292\" data-end=\"4309\">arduinobot_msgs<\/code>.<br \/><br \/><\/p><\/li><\/ul><p data-start=\"4312\" data-end=\"4337\">We also bring into scope:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2231fa3 elementor-widget elementor-widget-code-highlight\" data-id=\"2231fa3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>using namespace std::chrono_literals;\r\nusing std::placeholders::_1;\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-efeb3fd elementor-widget elementor-widget-code-highlight\" data-id=\"efeb3fd\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>class SimpleServiceClient : public rclcpp::Node\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d0ee944 elementor-widget elementor-widget-text-editor\" data-id=\"d0ee944\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>This inherits from <code data-start=\"4540\" data-end=\"4546\">Node<\/code> so it can participate in ROS 2 communication.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3dd01d3 elementor-widget elementor-widget-code-highlight\" data-id=\"3dd01d3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>client_ = create_client<arduinobot_msgs::srv::AddTwoInts>(\"add_two_ints\");\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8c6409d elementor-widget elementor-widget-text-editor\" data-id=\"8c6409d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Creates a client connected to the <code data-start=\"4763\" data-end=\"4777\">add_two_ints<\/code> service.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2f5d2df elementor-widget elementor-widget-code-highlight\" data-id=\"2f5d2df\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>while (!client_->wait_for_service(1s)) { ... }\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c8c2ad2 elementor-widget elementor-widget-text-editor\" data-id=\"c8c2ad2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Checks every second if the server is available.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-68be570 elementor-widget elementor-widget-code-highlight\" data-id=\"68be570\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>auto request = std::make_shared<arduinobot_msgs::srv::AddTwoInts::Request>();\r\nrequest->a = a;\r\nrequest->b = b;\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d5284f2 elementor-widget elementor-widget-text-editor\" data-id=\"d5284f2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Fills in the request fields.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-cd9d2ce elementor-widget elementor-widget-code-highlight\" data-id=\"cd9d2ce\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-cpp \">\n\t\t\t\t<code readonly=\"true\" class=\"language-cpp\">\n\t\t\t\t\t<xmp>auto result = client_->async_send_request(request, std::bind(&SimpleServiceClient::responseCallback, this, _1));\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-81b640f elementor-widget elementor-widget-text-editor\" data-id=\"81b640f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>Sends asynchronously and binds a callback to handle the result.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4153476 elementor-widget elementor-widget-code-highlight\" data-id=\"4153476\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python \">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>void responseCallback(rclcpp::Client<arduinobot_msgs::srv::AddTwoInts>::SharedFuture future)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-953a7cd elementor-widget elementor-widget-text-editor\" data-id=\"953a7cd\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>If valid, prints the sum. If not, shows an error.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b066648 elementor-widget elementor-widget-text-editor\" data-id=\"b066648\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"5652\" data-end=\"5683\"><strong>\u2699\ufe0f Updating <code data-start=\"5667\" data-end=\"5683\">CMakeLists.txt<\/code><\/strong><\/h3><p data-start=\"5685\" data-end=\"5733\">Inside <code data-start=\"5692\" data-end=\"5732\">arduinobot_cpp_examples\/CMakeLists.txt<\/code>:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ef3cef0 elementor-widget elementor-widget-code-highlight\" data-id=\"ef3cef0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>add_executable(simple_service_client src\/simple_service_client.cpp)\r\nament_target_dependencies(simple_service_client rclcpp arduinobot_msgs)\r\n\r\ninstall(TARGETS\r\n  simple_publisher\r\n  simple_subscriber\r\n  simple_service_server\r\n  simple_service_client\r\n  DESTINATION lib\/${PROJECT_NAME}\r\n)\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a03cf66 elementor-widget elementor-widget-text-editor\" data-id=\"a03cf66\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"5814\" data-end=\"5852\">\ud83d\ude80 Build and Test the Client<\/h3><p data-start=\"5854\" data-end=\"5872\">First, build your workspace:<\/p><div class=\"contain-inline-size rounded-2xl relative bg-token-sidebar-surface-primary\"><div class=\"overflow-y-auto p-4\" dir=\"ltr\">\u00a0<\/div><\/div>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-97d5cc7 elementor-widget elementor-widget-code-highlight\" data-id=\"97d5cc7\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>cd ~\/arduinobot_ws\r\ncolcon build\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8433ba1 elementor-widget elementor-widget-text-editor\" data-id=\"8433ba1\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h5><strong>\ud83d\udda5\ufe0f Terminal 1: Start the Service Server<\/strong><\/h5>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-39aa148 elementor-widget elementor-widget-code-highlight\" data-id=\"39aa148\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>. install\/setup.bash\r\nros2 run arduinobot_py_examples simple_service_server\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-66941d1 elementor-widget elementor-widget-text-editor\" data-id=\"66941d1\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h5><strong>\ud83d\udda5\ufe0f Terminal 2: Check if the service is available<\/strong><\/h5>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1c0a54d elementor-widget elementor-widget-code-highlight\" data-id=\"1c0a54d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>. install\/setup.bash\r\nros2 service list\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-9155f33 elementor-widget elementor-widget-text-editor\" data-id=\"9155f33\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h5><strong>\ud83d\udda5\ufe0f Terminal 3: Run the Client<\/strong><\/h5>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-87982e4 elementor-widget elementor-widget-code-highlight\" data-id=\"87982e4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash \">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>. install\/setup.bash\r\nros2 run arduinobot_py_examples simple_service_client 5 3\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-97577c4 elementor-widget elementor-widget-text-editor\" data-id=\"97577c4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>You should see something like:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-007d2a4 elementor-widget elementor-widget-code-highlight\" data-id=\"007d2a4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-css \">\n\t\t\t\t<code readonly=\"true\" class=\"language-css\">\n\t\t\t\t\t<xmp>[INFO] [simple_service_client]: Service Response 8\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-c5d20e7 e-con-full e-flex e-con e-parent\" data-id=\"c5d20e7\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-0741169 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"0741169\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/manipulation-ros2.webp);\" role=\"img\" aria-label=\"manipulation ros2\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tExplore all the ROS 2 services in the \"Robotics and ROS 2 - Learn by Doing! Manipulators\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item \">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-180426a elementor-widget elementor-widget-spacer\" data-id=\"180426a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>In the previous tutorial, we learned how to build a ROS 2 Service Server that takes two integers and returns their sum.Now it\u2019s time to create the client node that sends requests to that service \u2014 this time, using C++. This tutorial will guide you through: Understanding how a ROS 2 service client works. Implementing [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":3538,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[45,43],"tags":[126,248,179,66,74,247,131,141,98,100,75,71,107,72,245],"class_list":["post-3533","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ros-2","category-tutorials","tag-base","tag-client","tag-lbd","tag-learn-by-doing","tag-linux","tag-maniplators","tag-node","tag-py","tag-python","tag-robot","tag-robotics","tag-ros","tag-ros-2","tag-ros2","tag-service"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>How to Build and Test a ROS 2 Service Client in C++ - Learn by Doing!<\/title>\n<meta name=\"description\" content=\"Learn how to create and test a ROS 2 Service Client in C++. Write the service definition, implement the node, and run it with ROS 2 tools.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How to Build and Test a ROS 2 Service Client in C++\" \/>\n<meta property=\"og:description\" content=\"Learn by Doing!\" \/>\n<meta property=\"og:url\" content=\"https:\/\/learnbydoing.dev\/es\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\" \/>\n<meta property=\"og:site_name\" content=\"Learn by Doing!\" \/>\n<meta property=\"article:published_time\" content=\"2025-08-08T09:38:41+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2026-01-10T22:02:29+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\" \/>\n\t<meta property=\"og:image:width\" content=\"1920\" \/>\n\t<meta property=\"og:image:height\" content=\"1080\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/webp\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Escrito por\" \/>\n\t<meta name=\"twitter:data1\" content=\"\" \/>\n\t<meta name=\"twitter:label2\" content=\"Tiempo de lectura\" \/>\n\t<meta name=\"twitter:data2\" content=\"5 minutos\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\"},\"author\":{\"name\":\"\",\"@id\":\"\"},\"headline\":\"How to Build and Test a ROS 2 Service Client in C++\",\"datePublished\":\"2025-08-08T09:38:41+00:00\",\"dateModified\":\"2026-01-10T22:02:29+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\"},\"wordCount\":425,\"publisher\":{\"@id\":\"https:\/\/learnbydoing.dev\/es\/#organization\"},\"image\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\",\"keywords\":[\"Base\",\"client\",\"lbd\",\"learn by doing\",\"Linux\",\"maniplators\",\"node\",\"py\",\"python\",\"robot\",\"Robotics\",\"ROS\",\"ROS 2\",\"ROS2\",\"service\"],\"articleSection\":[\"ROS 2\",\"Tutorials\"],\"inLanguage\":\"es\"},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\",\"url\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\",\"name\":\"How to Build and Test a ROS 2 Service Client in C++ - Learn by Doing!\",\"isPartOf\":{\"@id\":\"https:\/\/learnbydoing.dev\/es\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage\"},\"image\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\",\"datePublished\":\"2025-08-08T09:38:41+00:00\",\"dateModified\":\"2026-01-10T22:02:29+00:00\",\"description\":\"Learn how to create and test a ROS 2 Service Client in C++. Write the service definition, implement the node, and run it with ROS 2 tools.\",\"breadcrumb\":{\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#breadcrumb\"},\"inLanguage\":\"es\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"es\",\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage\",\"url\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\",\"contentUrl\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp\",\"width\":1920,\"height\":1080},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/learnbydoing.dev\/es\/learn-by-doing-es\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"How to Build and Test a ROS 2 Service Client in C++\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/learnbydoing.dev\/es\/#website\",\"url\":\"https:\/\/learnbydoing.dev\/es\/\",\"name\":\"Learn by Doing!\",\"description\":\"Learn Robotics the fun way\",\"publisher\":{\"@id\":\"https:\/\/learnbydoing.dev\/es\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/learnbydoing.dev\/es\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"es\"},{\"@type\":\"Organization\",\"@id\":\"https:\/\/learnbydoing.dev\/es\/#organization\",\"name\":\"Learn by Doing!\",\"url\":\"https:\/\/learnbydoing.dev\/es\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"es\",\"@id\":\"https:\/\/learnbydoing.dev\/es\/#\/schema\/logo\/image\/\",\"url\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/cropped-cropped-cropped-Progetto-senza-titolo-6-1.png\",\"contentUrl\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/cropped-cropped-cropped-Progetto-senza-titolo-6-1.png\",\"width\":512,\"height\":512,\"caption\":\"Learn by Doing!\"},\"image\":{\"@id\":\"https:\/\/learnbydoing.dev\/es\/#\/schema\/logo\/image\/\"},\"sameAs\":[\"https:\/\/www.linkedin.com\/in\/antonio-brandi-512166bb\/\"]},{\"@type\":\"Person\",\"@id\":\"\",\"url\":\"https:\/\/learnbydoing.dev\/es\/author\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"How to Build and Test a ROS 2 Service Client in C++ - Learn by Doing!","description":"Learn how to create and test a ROS 2 Service Client in C++. Write the service definition, implement the node, and run it with ROS 2 tools.","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/learnbydoing.dev\/es\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/","og_locale":"es_ES","og_type":"article","og_title":"How to Build and Test a ROS 2 Service Client in C++","og_description":"Learn by Doing!","og_url":"https:\/\/learnbydoing.dev\/es\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/","og_site_name":"Learn by Doing!","article_published_time":"2025-08-08T09:38:41+00:00","article_modified_time":"2026-01-10T22:02:29+00:00","og_image":[{"width":1920,"height":1080,"url":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp","type":"image\/webp"}],"twitter_card":"summary_large_image","twitter_misc":{"Escrito por":"","Tiempo de lectura":"5 minutos"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#article","isPartOf":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/"},"author":{"name":"","@id":""},"headline":"How to Build and Test a ROS 2 Service Client in C++","datePublished":"2025-08-08T09:38:41+00:00","dateModified":"2026-01-10T22:02:29+00:00","mainEntityOfPage":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/"},"wordCount":425,"publisher":{"@id":"https:\/\/learnbydoing.dev\/es\/#organization"},"image":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage"},"thumbnailUrl":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp","keywords":["Base","client","lbd","learn by doing","Linux","maniplators","node","py","python","robot","Robotics","ROS","ROS 2","ROS2","service"],"articleSection":["ROS 2","Tutorials"],"inLanguage":"es"},{"@type":"WebPage","@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/","url":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/","name":"How to Build and Test a ROS 2 Service Client in C++ - Learn by Doing!","isPartOf":{"@id":"https:\/\/learnbydoing.dev\/es\/#website"},"primaryImageOfPage":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage"},"image":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage"},"thumbnailUrl":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp","datePublished":"2025-08-08T09:38:41+00:00","dateModified":"2026-01-10T22:02:29+00:00","description":"Learn how to create and test a ROS 2 Service Client in C++. Write the service definition, implement the node, and run it with ROS 2 tools.","breadcrumb":{"@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#breadcrumb"},"inLanguage":"es","potentialAction":[{"@type":"ReadAction","target":["https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/"]}]},{"@type":"ImageObject","inLanguage":"es","@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#primaryimage","url":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp","contentUrl":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/08\/Services-Server-Client-1.webp","width":1920,"height":1080},{"@type":"BreadcrumbList","@id":"https:\/\/learnbydoing.dev\/how-to-build-and-test-a-ros-2-service-client-in-cpp\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/learnbydoing.dev\/es\/learn-by-doing-es\/"},{"@type":"ListItem","position":2,"name":"How to Build and Test a ROS 2 Service Client in C++"}]},{"@type":"WebSite","@id":"https:\/\/learnbydoing.dev\/es\/#website","url":"https:\/\/learnbydoing.dev\/es\/","name":"Learn by Doing!","description":"Learn Robotics the fun way","publisher":{"@id":"https:\/\/learnbydoing.dev\/es\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/learnbydoing.dev\/es\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"es"},{"@type":"Organization","@id":"https:\/\/learnbydoing.dev\/es\/#organization","name":"Learn by Doing!","url":"https:\/\/learnbydoing.dev\/es\/","logo":{"@type":"ImageObject","inLanguage":"es","@id":"https:\/\/learnbydoing.dev\/es\/#\/schema\/logo\/image\/","url":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/cropped-cropped-cropped-Progetto-senza-titolo-6-1.png","contentUrl":"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/cropped-cropped-cropped-Progetto-senza-titolo-6-1.png","width":512,"height":512,"caption":"Learn by Doing!"},"image":{"@id":"https:\/\/learnbydoing.dev\/es\/#\/schema\/logo\/image\/"},"sameAs":["https:\/\/www.linkedin.com\/in\/antonio-brandi-512166bb\/"]},{"@type":"Person","@id":"","url":"https:\/\/learnbydoing.dev\/es\/author\/"}]}},"_links":{"self":[{"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/posts\/3533","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/comments?post=3533"}],"version-history":[{"count":23,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/posts\/3533\/revisions"}],"predecessor-version":[{"id":5509,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/posts\/3533\/revisions\/5509"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/media\/3538"}],"wp:attachment":[{"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/media?parent=3533"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/categories?post=3533"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/learnbydoing.dev\/es\/wp-json\/wp\/v2\/tags?post=3533"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}