marker_rotator.cpp

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//Global includes



//Pkg includes
#include <ros/ros.h>


//ISM includes
#include <ISM/tools/MarkerRotator.hpp>


bool getNodeParameters(ros::NodeHandle nh, std::string& source_file, std::string& target_file)
{
    bool success = true;

    if (!nh.getParam("source", source_file) || source_file.empty())
    {
        ROS_INFO("Missing parameter: \"source\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("source: " << source_file);
    }

    if (!nh.getParam("target", target_file) || target_file.empty())
    {
        ROS_INFO("Missing parameter: \"target\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("target: " << target_file);
    }

    return success;
}

int main (int argc, char **argv)
{
    //Usual ros node stuff
    ros::init(argc, argv, "marker_rotator");
    ros::NodeHandle nh("~");
    ISM::MarkerRotator marker_rotator;

    std::string target_file;
    std::string source_file;

    if(getNodeParameters(nh, source_file, target_file))
    {
        marker_rotator.rotateMarker(source_file, target_file);

        ROS_INFO("ROTATION COMPLETED!");
    }
    else
    {
        ROS_INFO("ROTATION ABORTED! Check launch-file for missing parameter.");
    }

    return 0;
}