poller.cpp
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00002 * Software License Agreement (BSD License)
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00034 
00035 #include <cstdio>
00036 #include <ros/ros.h>
00037 #include <boost/lexical_cast.hpp>
00038 #include "polled_camera/GetPolledImage.h"
00039 
00040 int main(int argc, char** argv)
00041 {
00042   ros::init(argc, argv, "poller", ros::init_options::AnonymousName);
00043   if (argc < 2) {
00044     printf("Usage: %s <Hz> camera:=<namespace> output:=<namespace>\n", argv[0]);
00045     return 0;
00046   }
00047   double hz = boost::lexical_cast<double>(argv[1]);
00048   
00049   ros::NodeHandle nh;
00050   std::string service_name = nh.resolveName("camera") + "/request_image";
00051   ros::ServiceClient client = nh.serviceClient<polled_camera::GetPolledImage>(service_name);
00052 
00053   polled_camera::GetPolledImage::Request req;
00054   polled_camera::GetPolledImage::Response rsp;
00055   req.response_namespace = nh.resolveName("output");
00056 
00057   ros::Rate loop_rate(hz);
00058   while (nh.ok()) {
00059     if (client.call(req, rsp)) {
00060       std::cout << "Timestamp: " << rsp.stamp << std::endl;
00061       loop_rate.sleep();
00062     }
00063     else {
00064       ROS_ERROR("Service call failed");
00065       client.waitForExistence();
00066     }
00067   }
00068 }


polled_camera
Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 21:20:04