services.cpp

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#include <boost/bind.hpp>
#include <string>

#include "ros/ros.h"
#include "enu/FromFix.h"
#include "enu/ToFix.h"
#include "enu/ToENU.h"
#include "enu/enu.h"  // ROS wrapper for conversion functions

bool from_fix_service(const enu::FromFix::Request& req, enu::FromFix::Response& resp) {
  enu::fix_to_point(req.llh, req.datum, &(resp.point));
  return true;
}

bool to_fix_service(const enu::ToFix::Request& req, enu::ToFix::Response& resp) {
  enu::point_to_fix(req.point, req.datum, &(resp.llh));
  return true;
}

int main(int argc, char **argv) {
  ros::init(argc, argv, "enu_services");
  ros::NodeHandle n;

  ros::ServiceServer from_fix_srv = 
    n.advertiseService<enu::FromFix::Request, enu::FromFix::Response> ("from_fix", from_fix_service);
  ros::ServiceServer to_fix_srv =
    n.advertiseService<enu::ToFix::Request, enu::ToFix::Response> ("to_fix", to_fix_service);

  ros::spin();
  return 0;
}