snapshot.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* author: Radu Bogdan Rusu <rusu@cs.tum.edu> */
00031 
00032 // ROS core
00033 #include "ros/node_handle.h"
00034 #include "ros/time.h"
00035 #include "ros/common.h"
00036 
00037 #include <cfloat>
00038 
00039 #define BOOL2STR_TF(b) ( b ? "true" : "false" )
00040 
00041 using namespace std;
00042 
00043 class Snapshot: public ros::node
00044 {
00045   public:
00046     Snapshot () : ros::node ("composite_snapshot") { }
00047     ~Snapshot () { }
00048 };
00049 
00050 /* ---[ */
00051 int
00052   main (int argc, char** argv)
00053 {
00054   ros::init (argc, argv);
00055 
00056   // Here is where we create our ROS node
00057   Snapshot p;
00058   
00059   std::string topic ("/composite/composite_snapshot");
00060   
00061   if (p.has_param (topic))
00062   {
00063     int param_value;
00064     if (p.get_param (topic, param_value))
00065     {
00066       param_value *= -1;
00067         
00068       fprintf (stderr, "Parameter found, changing value to %d.\n", param_value);
00069       p.set_param (topic, param_value);
00070     }
00071     else
00072       fprintf (stderr, "Cannot get parameter %s value!\n", topic.c_str ());
00073   }
00074   else
00075     p.set_param (topic, 1);
00076   
00077   // Shutdown
00078   p.shutdown ();
00079 
00080   ros::fini ();
00081 
00082   return (0);
00083 }
00084 /* ]--- */
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composite_node
Author(s): Radu Bogdan Rusu (rusu@cs.tum.edu)
autogenerated on Thu May 23 2013 18:27:58