service_trigger.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2009, Willow Garage, Inc.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
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00013  *   * Redistributions in binary form must reproduce the above
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id$
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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 }


stereo_wall_detection
Author(s): Radu Bogdan Rusu
autogenerated on Thu Nov 28 2013 11:46:00