operation_mode_setup_executor_node_service_calls.h
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1 /*
2  * Copyright (c) 2019 Pilz GmbH & Co. KG
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU Lesser General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8 
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details.
13 
14  * You should have received a copy of the GNU Lesser General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
18 #ifndef OPERATION_MODE_SETUP_EXECUTOR_NODE_SERVICE_CALLS_H
19 #define OPERATION_MODE_SETUP_EXECUTOR_NODE_SERVICE_CALLS_H
20 
21 #include <ros/ros.h>
22 
23 #include <prbt_hardware_support/GetOperationMode.h>
24 #include <prbt_hardware_support/SetSpeedLimit.h>
25 
26 namespace prbt_hardware_support
27 {
28 
29 template<class T>
30 static bool setSpeedLimitSrv(T& srv_client, const double& speed_limit)
31 {
32  SetSpeedLimit srv_msg;
33  srv_msg.request.speed_limit = speed_limit;
34  bool call_success = srv_client.call(srv_msg);
35  if (!call_success)
36  {
37  ROS_ERROR_STREAM("No success calling service: " << srv_client.getService());
38  }
39  return call_success;
40 }
41 
42 } // namespace prbt_hardware_support
43 
44 #endif // OPERATION_MODE_SETUP_EXECUTOR_NODE_SERVICE_CALLS_H
static bool setSpeedLimitSrv(T &srv_client, const double &speed_limit)
#define ROS_ERROR_STREAM(args)


prbt_hardware_support
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autogenerated on Tue Feb 25 2020 03:19:31