poller.cpp
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34 
35 #include <cstdio>
36 #include <ros/ros.h>
37 #include <boost/lexical_cast.hpp>
38 #include "polled_camera/GetPolledImage.h"
39 
40 int main(int argc, char** argv)
41 {
42  ros::init(argc, argv, "poller", ros::init_options::AnonymousName);
43  if (argc < 2) {
44  printf("Usage: %s <Hz> camera:=<namespace> output:=<namespace>\n", argv[0]);
45  return 0;
46  }
47  double hz = boost::lexical_cast<double>(argv[1]);
48 
49  ros::NodeHandle nh;
50  std::string service_name = nh.resolveName("camera") + "/request_image";
51  ros::ServiceClient client = nh.serviceClient<polled_camera::GetPolledImage>(service_name);
52 
53  polled_camera::GetPolledImage::Request req;
54  polled_camera::GetPolledImage::Response rsp;
55  req.response_namespace = nh.resolveName("output");
56 
57  ros::Rate loop_rate(hz);
58  while (nh.ok()) {
59  if (client.call(req, rsp)) {
60  std::cout << "Timestamp: " << rsp.stamp << std::endl;
61  loop_rate.sleep();
62  }
63  else {
64  ROS_ERROR("Service call failed");
65  client.waitForExistence();
66  }
67  }
68 }
ros::init_options::AnonymousName
AnonymousName
ros::ServiceClient::waitForExistence
bool waitForExistence(ros::Duration timeout=ros::Duration(-1))
ros::init
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
ros.h
ros::NodeHandle::serviceClient
ServiceClient serviceClient(const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())
ros::NodeHandle::resolveName
std::string resolveName(const std::string &name, bool remap=true) const
ros::ServiceClient
ros::Rate::sleep
bool sleep()
ros::NodeHandle::ok
bool ok() const
ROS_ERROR
#define ROS_ERROR(...)
ros::ServiceClient::call
bool call(const MReq &req, MRes &resp, const std::string &service_md5sum)
main
int main(int argc, char **argv)
Definition: poller.cpp:40
ros::Rate
ros::NodeHandle


polled_camera
Author(s): Patrick Mihelich
autogenerated on Tue Mar 8 2022 03:13:16