00001 /****************************************************************************** 00002 * * 00003 * parameter_pa_node.h * 00004 * =================== * 00005 * * 00006 ******************************************************************************* 00007 * * 00008 * github repository * 00009 * https://github.com/TUC-ProAut/ros_parameter * 00010 * * 00011 * Chair of Automation Technology, Technische Universität Chemnitz * 00012 * https://www.tu-chemnitz.de/etit/proaut * 00013 * * 00014 ******************************************************************************* 00015 * * 00016 * New BSD License * 00017 * * 00018 * Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz * 00019 * All rights reserved. * 00020 * * 00021 * Redistribution and use in source and binary forms, with or without * 00022 * modification, are permitted provided that the following conditions are met: * 00023 * * Redistributions of source code must retain the above copyright * 00024 * notice, this list of conditions and the following disclaimer. * 00025 * * Redistributions in binary form must reproduce the above copyright * 00026 * notice, this list of conditions and the following disclaimer in the * 00027 * documentation and/or other materials provided with the distribution. * 00028 * * Neither the name of the Technische Universität Chemnitz nor the * 00029 * names of its contributors may be used to endorse or promote products * 00030 * derived from this software without specific prior written permission. * 00031 * * 00032 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * 00033 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * 00034 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * 00035 * ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY * 00036 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00037 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * 00038 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * 00039 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * 00040 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * 00041 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * 00042 * DAMAGE. * 00043 * * 00044 ******************************************************************************/ 00045 00046 #ifndef __PARAMETER_PA_NODE_H 00047 #define __PARAMETER_PA_NODE_H 00048 00049 // local headers 00050 #include "parameter_pa/parameter_pa_ros.h" 00051 #include "parameter_pa/ParameterPaString.h" 00052 00053 // ros headers 00054 #include <ros/ros.h> 00055 00056 //**************************[main]********************************************* 00057 int main(int argc, char **argv); 00058 00059 //**************************[cParameterPaNode]********************************* 00060 class cParameterPaNode : public cParameterPaRos { 00061 public: 00063 cParameterPaNode(); 00064 00066 ~cParameterPaNode(); 00067 00068 protected: 00070 ros::NodeHandle nh_; 00071 00073 ros::ServiceServer ser_path_; 00075 ros::ServiceServer ser_ressource_; 00076 00078 bool substitutePathCallbackSrv( 00079 parameter_pa::ParameterPaString::Request &req, 00080 parameter_pa::ParameterPaString::Response &res); 00082 bool substituteNameCallbackSrv( 00083 parameter_pa::ParameterPaString::Request &req, 00084 parameter_pa::ParameterPaString::Response &res); 00085 }; 00086 00087 #endif // __PARAMETER_PA_NODE_H