gazebo_plugins: gazebo_plugins: hokuyo

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2009-2010, 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 the Willow Garage 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 
00035 #include <dynamic_reconfigure/server.h>
00036 #include <gazebo_plugins/HokuyoConfig.h>
00037 
00038 void callback(gazebo_plugins::HokuyoConfig &config, uint32_t level)
00039 {
00040   ROS_INFO("Reconfigure request : %f %f %i %i %i %s %i %s %f %i",
00041            config.min_ang, config.max_ang, (int)config.intensity, config.cluster, config.skip,
00042            config.port.c_str(), (int)config.calibrate_time, config.frame_id.c_str(), config.time_offset, (int)config.allow_unsafe_settings);
00043   
00044   // do nothing for now
00045 
00046   ROS_INFO("Reconfigure to : %f %f %i %i %i %s %i %s %f %i",
00047            config.min_ang, config.max_ang, (int)config.intensity, config.cluster, config.skip,
00048            config.port.c_str(), (int)config.calibrate_time, config.frame_id.c_str(), config.time_offset, (int)config.allow_unsafe_settings);
00049 }
00050 
00051 int main(int argc, char **argv)
00052 {
00053   ros::init(argc, argv, "hokuyo_node");
00054   dynamic_reconfigure::Server<gazebo_plugins::HokuyoConfig> srv;
00055   dynamic_reconfigure::Server<gazebo_plugins::HokuyoConfig>::CallbackType f = boost::bind(&callback, _1, _2);
00056   srv.setCallback(f);
00057   ROS_INFO("Starting to spin...");
00058   ros::spin();
00059   return 0;
00060 }
00061
hokuyo_node.cpp
