hokuyo_node.cpp

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#include <dynamic_reconfigure/server.h>
#include <gazebo_plugins/HokuyoConfig.h>

void callback(gazebo_plugins::HokuyoConfig &config, uint32_t level)
{
  ROS_INFO_NAMED("hokuyo_node", "Reconfigure request : %f %f %i %i %i %s %i %s %f %i",
           config.min_ang, config.max_ang, (int)config.intensity, config.cluster, config.skip,
           config.port.c_str(), (int)config.calibrate_time, config.frame_id.c_str(), config.time_offset, (int)config.allow_unsafe_settings);

  // do nothing for now

  ROS_INFO_NAMED("hokuyo_node", "Reconfigure to : %f %f %i %i %i %s %i %s %f %i",
           config.min_ang, config.max_ang, (int)config.intensity, config.cluster, config.skip,
           config.port.c_str(), (int)config.calibrate_time, config.frame_id.c_str(), config.time_offset, (int)config.allow_unsafe_settings);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "hokuyo_node");
  dynamic_reconfigure::Server<gazebo_plugins::HokuyoConfig> srv;
  dynamic_reconfigure::Server<gazebo_plugins::HokuyoConfig>::CallbackType f = boost::bind(&callback, _1, _2);
  srv.setCallback(f);
  ROS_INFO_NAMED("hokuyo_node", "Starting to spin...");
  ros::spin();
  return 0;
}