continuous_segmenter.cpp

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#include <ros/ros.h>
#include <std_srvs/Empty.h>

using namespace std;

int main(int argc, char **argv)
{
  // initialize ROS and the node
  ros::init(argc, argv, "continuous_segmenter");

  ros::NodeHandle node;
  ros::NodeHandle pnh("~");
  ros::ServiceClient segmentClient;
  segmentClient = node.serviceClient<std_srvs::Empty>("rail_segmentation/segment");
  std_srvs::Empty srv;
  double rate;
  pnh.param("segmentation_rate", rate, 0.5);

  ros::Rate loop_rate(rate);
  while (ros::ok())
  {
    segmentClient.call(srv);
    ros::spinOnce();
    loop_rate.sleep();
  }

  return EXIT_SUCCESS;
}