crossing_detector_server.cpp
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00001 #include <ros/ros.h>
00002 #include <ros/console.h> // to change the log level to debug
00003 
00004 #include <lama_msgs/Crossing.h>
00005 #include <lama_msgs/PlaceProfile.h>
00006 
00007 #include <crossing_detector/crossing_detector.h>
00008 #include <crossing_detector/DetectCrossing.h>
00009 
00010 crossing_detector::CrossingDetector* detector;
00011 
00012 bool detect_crossing_callback(crossing_detector::DetectCrossing::Request& req, crossing_detector::DetectCrossing::Response& res)
00013 {
00014   detector->setFrontierWidth(req.frontier_width);
00015   detector->setMaxFrontierAngle(req.max_frontier_angle);
00016   detector->setMinRelevance(req.min_relevance);
00017   res.crossing = detector->crossingDescriptor(req.profile, true);
00018   return true;
00019 }
00020 
00021 int main(int argc, char *argv[])
00022 {
00023   ros::init(argc, argv, "crossing_detector");
00024   ros::NodeHandle nh("~");
00025   
00026   // Change log level.
00027   if(ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
00028   {
00029     ros::console::notifyLoggerLevelsChanged();
00030   }
00031 
00032   detector = new crossing_detector::CrossingDetector(0);
00033 
00034   ros::ServiceServer service_server = nh.advertiseService("detect_crossing", detect_crossing_callback);
00035 
00036   ros::spin();
00037   return 0;
00038 }


crossing_detector
Author(s): Gaël Ecorchard , Karel Košnar , Vojtěch Vonásek
autogenerated on Thu Jun 6 2019 22:02:06