BootUpNode.cpp

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#include "ros/ros.h"
#include "std_srvs/SetBool.h"

bool boot_finished = false;
bool node_finished = false;

bool bootUpService(std_srvs::SetBool::Request &req,
                std_srvs::SetBool::Response &res) {
        if (boot_finished) {
                res.success = 1;
                res.message = "Finished";
                node_finished = true;
        } else {
                res.success = false;
                res.message = "Still booting ...";
        }
        return true;
}

void timerCallback(const ros::TimerEvent&) {
        boot_finished = true;
}

int main(int argc, char **argv) {
        ros::init(argc, argv, "bootUpNode");
        ros::NodeHandle privateNh("~");
        double wait_time;
        privateNh.param<double>("wait_time", wait_time, 1);
        ros::NodeHandle nh("rsm");
        ros::ServiceServer bootup_service = nh.advertiseService("bootUpFinished",
                        bootUpService);
        ros::Timer timer = nh.createTimer(ros::Duration(wait_time), timerCallback,
                        true);

        while (ros::ok() && !node_finished) {
                ros::spin();
        }
        return 0;
}