text: /////////////////////////////////////////////////////////////////////////////////
  // MIT License
  //
  // Copyright (c) 2020 RoboLab19
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all
  // copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  /////////////////////////////////////////////////////////////////////////////////
  #include <iostream>
  #include <fstream>
  #include <sstream>
  
  #include "ros/ros.h"
  #include "robodog/GcodeService.h"
  
  bool SendGcode(std::string gcode)
  {
      ros::NodeHandle n;
  
      ros::ServiceClient client = n.serviceClient<robodog::GcodeService>("gcode");
      robodog::GcodeService srv;
      srv.request.gcode = gcode;
      if (client.call(srv)) {
          //ROS_INFO("Send OK");
      }
      else
          ROS_INFO("Send gcode failed");
  
      return true;
  }
  
  bool SendGcodeFromFile(const std::string& path)
  {
      std::ifstream file(path);
      if (!file.is_open()) {
          printf("SendGcodeFromFile(): Failed to open file: %s\n", path.c_str());
          return false;
      }
  
      std::stringstream strStream;
      strStream << file.rdbuf();
  
      return SendGcode(strStream.str());
  }
  
  int main(int argc, char **argv)
  {
      ros::init(argc, argv, "robodog_client");
      ros::NodeHandle n;
  
      SendGcodeFromFile("GCODE/test.gcode");
  
      return 0;
  }
  