Why the ROS client could fail!

edit

It works! Thanks a lot, Lorenz!!!

Hi, I upload my full version of codes of the server, hope somebody can find out the errors!

The server can work but the the client always failed!

do not why, quite annoying!

#include "ros/ros.h"
#include <cstdlib>
#include <string.h>
#include <math.h>
#include "Crawlers/Cpg.h"
#include "Crawlers/joint.h"

class Pub{
public:
ros::NodeHandle p;
ros::Publisher pub;
Crawlers::joint data;
std::vector<float> posture;
public:
Pub(ros::NodeHandle s);
bool callback1(Crawlers::Cpg::Request &req,
               Crawlers::Cpg::Response &res);

};
Pub::Pub(ros::NodeHandle s){

p=s;
posture.resize(26);
//head///////////////
posture[0] = 0.0f;
posture[1] = -0.7;
/////leftleg//////////
posture[2]=-0.4f;   //LHipYawPitch
    posture[3]=0.2437f;  //LHipRoll
    posture[4]=-0.925f;  //LHipPitch
    posture[5]=1.8f;   //LKneePitch
    posture[6]=0.75f;   //LAnklePitch
    posture[7]=0.68f;    //AnkleRoll
    /////rightleg/////////
    posture[8]=-0.4f;   //RHipYawPitch
    posture[9]=-0.2437f;  //RHipRoll
    posture[10]=-0.925f;  //RHipPitch
    posture[11]=1.8f;   //RKneePitch
    posture[12]=0.75f;   //RAnklePitch
    posture[13]=-0.68f;    //RAnkleRoll
    ////leftarm////////
    posture[14]= 0.44f;    //LShoulderPitch
    posture[15]=0.1f;         //LShoulderRoll
    posture[16]=-1.58f;         //LElbowYaw
    posture[17]=-0.1f;         //LElbowRoll
    posture[18]=0.0f;            //LWaistYaw
    posture[19]=0.0f;          //RHand
    ////rightarm//////
    posture[20]= 0.44f;           //RShoulderPitch
    posture[21]=-0.1f;         //RShoulderRoll
    posture[22]=1.58f;         //RElbowYaw
    posture[23]=0.1f;         //RElbowRoll
    posture[24]=0.0f;            //RWaistYaw
    posture[25]=0.0f;          //RHand
pub = p.advertise<Crawlers::joint>("jointvalue", 1000);
}




bool Pub::callback1(Crawlers::Cpg::Request &req,
                   Crawlers::Cpg::Response &res){
  ///head
  data.HeadYaw = posture[0];

  data.HeadPitch = posture[1];
  ///leftleg
  data.LHipYawPitch = posture[2];

  data.LHipRoll = posture[3] - 0.25f*req.cpg3;

  data.LHipPitch = posture[4] + 0.4f*req.cpg3;

  data.LKneePitch = posture[5] -0.02f*req.cpg3;

  data.LAnklePitch = posture[6];

  data.LAnkleRoll = posture[7]; 

  ///rightleg
  data.RHipYawPitch = posture[8];

  data.RHipRoll = posture[9] +0.25f*req.cpg4;

  data.RHipPitch = posture[10] + 0.4f*req.cpg4;

  data.RKneePitch = posture[11]-0.02f*req.cpg4;

  data.RAnklePitch = posture[12];

  data.RAnkleRoll = posture[13];

  ///leftarm
  data.LShoulderPitch = posture[14] + 0.4f*req.cpg1;

  data.LShoulderRoll = posture[15] + 0.1f*req.cpg1;

  data.LElbowYaw = posture[16];

  data.LElbowRoll = posture[17] +(-0.1f)*exp(-(( 0.4f*req.cpg1 )-sqrt(0.2))/2.0);


  data.LWristYaw = posture[18];

  data.LHand = posture[19];
  ///rightarm
  data.RShoulderPitch = posture[20] + 0.4f* req.cpg2;

  data.RShoulderRoll = posture[21] - 0.1f* req.cpg2;

  data.RElbowYaw = posture[22];

  data.RElbowRoll = posture[23] + 0.1f*exp(-(( 0.4f*req.cpg2 )-sqrt(0.2))/2.0);

  data.RWristYaw = posture[24];

  data.RHand = posture[25];            
  pub.publish(data);
  ROS_INFO("Cpg1:[%f]", req.cpg1); ROS_INFO("Cpg2:[%f]", req.cpg2);                


}
int main(int argc, char **argv){

  ros::init(argc, argv, "jointout");
  ros::NodeHandle s;
  Pub Node(s);
  ros::ServiceServer jointserv = s.advertiseService("Cpgdata", &Pub::callback1, &Node);
  ROS_INFO("ready to send joint data!");
  ros::spin();

}