Interacting with SAM from your code

Since the SAM interface is service-based, that means that from within your code you must simply instantiate the respective service clients, so no header files or libraries are needed. In the following, we show examples of how to create readers and writers from within a ROS node. Note that the following code snippets are not fully executable (or even compilable) ROS nodes. For fully-functional examples of how to write SAM client nodes, you can consult the nodes that are defined within the ‘sam_client_tests’ package.