00001 #include <cstdio>
00002 #include <ros/ros.h>
00003 #include <boost/lexical_cast.hpp>
00004 #include "polled_camera/GetPolledImage.h"
00005
00006 int main(int argc, char** argv)
00007 {
00008 ros::init(argc, argv, "poller", ros::init_options::AnonymousName);
00009 if (argc < 2) {
00010 printf("Usage: %s <Hz> camera:=<namespace> output:=<namespace>\n", argv[0]);
00011 return 0;
00012 }
00013 double hz = boost::lexical_cast<double>(argv[1]);
00014
00015 ros::NodeHandle nh;
00016 std::string service_name = nh.resolveName("camera") + "/request_image";
00017 ros::ServiceClient client = nh.serviceClient<polled_camera::GetPolledImage>(service_name);
00018
00019 polled_camera::GetPolledImage::Request req;
00020 polled_camera::GetPolledImage::Response rsp;
00021 req.response_namespace = nh.resolveName("output");
00022
00023 ros::Rate loop_rate(hz);
00024 while (nh.ok()) {
00025 if (client.call(req, rsp)) {
00026 std::cout << "Timestamp: " << rsp.stamp << std::endl;
00027 loop_rate.sleep();
00028 }
00029 else {
00030 ROS_ERROR("Service call failed");
00031 client.waitForExistence();
00032 }
00033 }
00034 }
