footstep_planner.cpp
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00001 // SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/src/footstep_planner.cpp $
00002 // SVN $Id: footstep_planner.cpp 2105 2011-10-24 13:19:32Z hornunga@informatik.uni-freiburg.de $
00003 
00004 /*
00005  * A footstep planner for humanoid robots
00006  *
00007  * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
00008  * http://www.ros.org/wiki/footstep_planner
00009  *
00010  *
00011  * This program is free software: you can redistribute it and/or modify
00012  * it under the terms of the GNU General Public License as published by
00013  * the Free Software Foundation, version 3.
00014  *
00015  * This program is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  * GNU General Public License for more details.
00019  *
00020  * You should have received a copy of the GNU General Public License
00021  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  */
00023 #include <bipedRobin_footstep_planner/FootstepPlannerNode.h>
00024 #include <ros/ros.h>
00025 #include <std_srvs/Empty.h>
00026 
00027 //Erweitern der Node um Services zum Neustarten der Node, und umstellen auf FootstepPlannerNodeNew
00028 
00029 bool restartCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)      {
00030                 exit(0); //killt node, diese wird dann automatisch neugestartet
00031                 return true;
00032 }
00033 
00034 int main(int argc, char** argv)
00035 {
00036   ros::init(argc, argv, "footstep_planner");
00037         ros::NodeHandle n;      
00038 
00039         footstep_planner::FootstepPlannerNodeNew planner;
00040 
00041         ros::ServiceServer restart_srv = n.advertiseService("restart_srv", restartCallback);
00042         
00043         ros::spin();    
00044 
00045   return 0;
00046 }
00047 
00048 


biped_robin_footstep_planner
Author(s): Johannes Mayr, Johannes Mayr
autogenerated on Mon Jan 6 2014 11:09:35