test_detect_service.cpp

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// The roscpp_tutorial package shows off the features of the c++ client library
//
// Copyright (C) 2008, Morgan Quigley
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of Stanford University nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// POSSIBILITY OF SUCH DAMAGE.

#include <ros/ros.h>
#include "door_handle_detector/DoorsDetector.h"
#include <cstdlib>
#include <cstdio>




bool callDetector()
{

        door_handle_detector::DoorsDetector::Request req;
        door_handle_detector::DoorsDetector::Response resp;

        req.door.header.frame_id = "base_link";

        if (ros::service::call("door_handle_vision_detector", req, resp))
        {
                printf("Handle found\n");
                return true;
        }
        else
        {
                printf("Handle not found\n");
                return false;
        }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "handle_detect_test");
  callDetector();
  return 0;
}