ping_segment_object_in_hand.cpp

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// Author(s): Kaijen Hsiao

#include <ros/ros.h>
#include "tabletop_object_detector/SegmentObjectInHand.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "ping_segment_object_in_hand");
  ros::NodeHandle nh;
  ros::Publisher pub_cloud = nh.advertise<sensor_msgs::PointCloud2>("segmented_object_in_hand", 1);

  std::string service_name("/segment_object_in_hand_srv");
  while ( !ros::service::waitForService(service_name, ros::Duration().fromSec(3.0)) && nh.ok() )
  {
    ROS_INFO("Waiting for service %s...", service_name.c_str());
  }
  if (!nh.ok()) exit(0);

  tabletop_object_detector::SegmentObjectInHand segmentation_srv;
  segmentation_srv.request.wrist_frame = std::string("r_wrist_roll_link");
  if (!ros::service::call(service_name, segmentation_srv))
  {
    ROS_ERROR("Call to segmentation service failed");
    exit(0);
  }

  pub_cloud.publish(segmentation_srv.response.cluster);

}