00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2012, Worcester Polytechnic Institute 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 Worcester Polytechnic Institute nor the 00019 * names of its contributors may be used to endorse or promote 00020 * products derived from this software without specific prior 00021 * written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 *********************************************************************/ 00037 00048 #ifndef ROVIO_HEAD_H_ 00049 #define ROVIO_HEAD_H_ 00050 00051 #include <ros/ros.h> 00052 #include <rovio_shared/head_ctrl.h> 00053 #include <rovio_shared/rovio_http.h> 00054 #include <string> 00055 00062 class head_controller 00063 { 00064 public: 00070 head_controller(); 00071 00077 ~head_controller(); 00078 00084 void pub_head_sensor(); 00085 private: 00095 bool head_ctrl_callback(rovio_shared::head_ctrl::Request &req, rovio_shared::head_ctrl::Response &resp); 00096 00097 std::string host; 00098 rovio_http *rovio; 00099 ros::NodeHandle node; 00101 ros::ServiceServer head_ctrl; 00102 ros::Publisher head_sensor; 00103 }; 00104 00112 int main(int argc, char **argv); 00113 00114 #endif