services.cpp
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00001 
00036 #include <boost/bind.hpp>
00037 #include <string>
00038 
00039 #include "ros/ros.h"
00040 #include "enu/FromFix.h"
00041 #include "enu/ToFix.h"
00042 #include "enu/ToENU.h"
00043 #include "enu/enu.h"  // ROS wrapper for conversion functions
00044 
00045 bool from_fix_service(const enu::FromFix::Request& req, enu::FromFix::Response& resp) {
00046   enu::fix_to_point(req.llh, req.datum, &(resp.point));
00047   return true;
00048 }
00049 
00050 bool to_fix_service(const enu::ToFix::Request& req, enu::ToFix::Response& resp) {
00051   enu::point_to_fix(req.point, req.datum, &(resp.llh));
00052   return true;
00053 }
00054 
00055 int main(int argc, char **argv) {
00056   ros::init(argc, argv, "enu_services");
00057   ros::NodeHandle n;
00058 
00059   ros::ServiceServer from_fix_srv = 
00060     n.advertiseService<enu::FromFix::Request, enu::FromFix::Response> ("from_fix", from_fix_service);
00061   ros::ServiceServer to_fix_srv =
00062     n.advertiseService<enu::ToFix::Request, enu::ToFix::Response> ("to_fix", to_fix_service);
00063 
00064   ros::spin();
00065   return 0;
00066 }
00067 


enu
Author(s): Mike Purvis , Ryan Gariepy
autogenerated on Fri Aug 28 2015 10:37:27