00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Neobotix GmbH 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Neobotix nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 00036 #include <ros/ros.h> 00037 #include <std_msgs/Int16.h> 00038 00039 class WatchTempNode 00040 { 00041 public: 00042 WatchTempNode(){}; 00043 virtual ~WatchTempNode(){}; 00044 ros::NodeHandle n; 00045 ros::Subscriber subs_temp; 00046 00047 int init(); 00048 void handletemp(const std_msgs::Int16& es); 00049 private: 00050 00051 }; 00052 00053 int WatchTempNode::init() 00054 { 00055 subs_temp = n.subscribe("/temperature", 1, &WatchTempNode::handletemp, this); 00056 return 0; 00057 } 00058 00059 void WatchTempNode::handletemp(const std_msgs::Int16& temperature) 00060 { 00061 if(temperature.data > 70) 00062 { 00063 ROS_ERROR("the temperatur is to high, halt the system, please"); 00064 } 00065 } 00066 00067 int main (int argc, char **argv) 00068 { 00069 ros::init(argc, argv, "temperatur_watcher"); 00070 WatchTempNode node; 00071 node.init(); 00072 ros::spin(); 00073 }