client_example

#include <mrs_msgs/ReferenceStampedSrv.h>

#include <mrs_msgs/Reference.h>
#include <std_msgs/Header.h>

// Client
ros::ServiceClient fc_srv_client_goto_;

fc_srv_client_goto_ = nh.serviceClient<mrs_msgs::ReferenceStampedSrv>("/"+ uav_name_ +"/control_manager/reference");

// Create msg for client
mrs_msgs::ReferenceStampedSrv srv;
mrs_msgs::Reference ref;
std_msgs::Header h;

h.stamp = simulation_time_;
h.frame_id = uav_name_ + "/" + frame_;

ref.position.x = (posição x)
ref.position.y = (posição y)
ref.position.z = (posição z)
ref.yaw = (posição yaw)

srv.request.reference = ref;
srv.request.header = h;

// Request service
if (fc_srv_client_goto_.call(srv)){

}else{
	ROS_ERROR("Failed to call service.\n");
}