continuous_segmenter.cpp
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00001 
00012 #include <ros/ros.h>
00013 #include <std_srvs/Empty.h>
00014 
00015 using namespace std;
00016 
00024 int main(int argc, char **argv)
00025 {
00026   // initialize ROS and the node
00027   ros::init(argc, argv, "continuous_segmenter");
00028 
00029   ros::NodeHandle node;
00030   ros::NodeHandle pnh("~");
00031   ros::ServiceClient segmentClient;
00032   segmentClient = node.serviceClient<std_srvs::Empty>("rail_segmentation/segment");
00033   std_srvs::Empty srv;
00034   double rate;
00035   pnh.param("segmentation_rate", rate, 0.5);
00036 
00037   ros::Rate loop_rate(rate);
00038   while (ros::ok())
00039   {
00040     segmentClient.call(srv);
00041     ros::spinOnce();
00042     loop_rate.sleep();
00043   }
00044 
00045   return EXIT_SUCCESS;
00046 }


rail_segmentation
Author(s): Russell Toris , David Kent
autogenerated on Tue Sep 20 2016 03:52:24