footstep_planner.cpp

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// SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/src/footstep_planner.cpp $
// SVN $Id: footstep_planner.cpp 2105 2011-10-24 13:19:32Z hornunga@informatik.uni-freiburg.de $

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#include <bipedRobin_footstep_planner/FootstepPlannerNode.h>
#include <ros/ros.h>
#include <std_srvs/Empty.h>

//Erweitern der Node um Services zum Neustarten der Node, und umstellen auf FootstepPlannerNodeNew

bool restartCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)      {
                exit(0); //killt node, diese wird dann automatisch neugestartet
                return true;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "footstep_planner");
        ros::NodeHandle n;      

        footstep_planner::FootstepPlannerNodeNew planner;

        ros::ServiceServer restart_srv = n.advertiseService("restart_srv", restartCallback);
        
        ros::spin();    

  return 0;
}