service_trigger.cpp

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/*
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 *     contributors may be used to endorse or promote products derived
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#include <ros/ros.h>
#include "stereo_wall_detection/DetectWall.h"

using namespace stereo_wall_detection;

/* ---[ */
int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "stereo_wall_trigger", ros::init_options::AnonymousName);

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<DetectWall>("stereo_wall_detection/detect_wall");

  DetectWall srv;
  if (client.call (srv))
  {
    ROS_INFO ("Service call successful. Wall detected at: [%g,%g,%g] with norm [%g,%g,%g].", 
        srv.response.wall_point.point.x, 
        srv.response.wall_point.point.y, 
        srv.response.wall_point.point.z, 
        srv.response.wall_norm.vector.x, 
        srv.response.wall_norm.vector.y, 
              srv.response.wall_norm.vector.z);
  }
  else
  {
    ROS_ERROR ("Failed to call service!");
    return (-1);
  }

  return (0);
}