alignment.cpp

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/************************************************
Alignment file code
This file which check alignment between
CAO and Num represents one node of the entire
demonstrator
************************************************/

// ROS headers
#include <ros/ros.h>
#include <ros/service.h>
#include <fanuc_grinding_alignment/AlignmentService.h> // Description of the Service we will use

boost::shared_ptr<ros::NodeHandle> node;

bool align(fanuc_grinding_alignment::AlignmentService::Request &req,
           fanuc_grinding_alignment::AlignmentService::Response &res)
{
  // Get parameters from the message and print them
  ROS_WARN_STREAM(std::endl << req);

  res.ReturnStatus = false;
  res.ReturnMessage = "Alignment not implemented yet!";
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "alignment");
  node.reset(new ros::NodeHandle);

  // Create service server and wait for incoming requests
  ros::ServiceServer service = node->advertiseService("alignment_service", align);
  ros::AsyncSpinner spinner(1);
  spinner.start();

  while (node->ok())
  {
    sleep(1);
  }
  spinner.stop();
  return 0;
}