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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 #include <iostream> 00037 #include <cstdio> 00038 #include <cstring> 00039 #include <cstdlib> 00040 00041 #include <ros/ros.h> 00042 #include <sensor_msgs/Image.h> 00043 //#include <opencv_latest/CvBridge.h> 00044 //#include <opencv/highgui.h> //for cvLoadImage() 00045 00046 #include <photo/photo.h> 00047 #include <photo/GetConfig.h> 00048 #include <photo/SetConfig.h> 00049 #include <photo/Capture.h> 00050 00051 using namespace std; 00052 00053 int main(int argc, char **argv) 00054 { 00055 ros::init(argc, argv, "test_photo"); 00056 00057 // image_msgs::Image image; 00058 // image_msgs::CvBridge img_bridge; 00059 // 00060 // ros::NodeHandle n; 00061 // ros::ServiceClient client = n.serviceClient<photo::Capture>("/photo/capture"); 00062 // photo::Capture srv; 00063 // if(client.call(srv)) 00064 // { 00065 // printf("Calling photo/capture service was successful\n"); 00066 // image = srv.response.image; 00067 // if (img_bridge.fromImage(image, "bgr")) 00068 // cvSaveImage("test.jpg", img_bridge.toIpl()); 00069 // } 00070 // else 00071 // { 00072 // printf("Could not query photo/capture service\n"); 00073 // } 00074 ros::NodeHandle n; 00075 ros::ServiceClient client = n.serviceClient<photo::SetConfig>("/photo/set_config"); 00076 photo::SetConfig srv; 00077 srv.request.param = "exptime"; 00078 srv.request.value = "20"; 00079 if(!client.call(srv)) 00080 { 00081 ROS_FATAL("Could not query set_config service"); 00082 } 00083 return 0; 00084 } 00085