stereo_wall_detection: service_trigger.cpp Source File

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id$
00035  *
00036  */
00037 
00038 #include <ros/ros.h>
00039 #include "stereo_wall_detection/DetectWall.h"
00040 
00041 using namespace stereo_wall_detection;
00042 
00043 /* ---[ */
00044 int
00045   main (int argc, char** argv)
00046 {
00047   ros::init (argc, argv, "stereo_wall_trigger", ros::init_options::AnonymousName);
00048 
00049   ros::NodeHandle n;
00050   ros::ServiceClient client = n.serviceClient<DetectWall>("stereo_wall_detection/detect_wall");
00051 
00052   DetectWall srv;
00053   if (client.call (srv))
00054   {
00055     ROS_INFO ("Service call successful. Wall detected at: [%g,%g,%g] with norm [%g,%g,%g].", 
00056         srv.response.wall_point.point.x, 
00057         srv.response.wall_point.point.y, 
00058         srv.response.wall_point.point.z, 
00059         srv.response.wall_norm.vector.x, 
00060         srv.response.wall_norm.vector.y, 
00061               srv.response.wall_norm.vector.z);
00062   }
00063   else
00064   {
00065     ROS_ERROR ("Failed to call service!");
00066     return (-1);
00067   }
00068 
00069   return (0);
00070 }