CleanSpotTest.cpp

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#include <ros/ros.h>
#include <coverage_3d_srvs/CleanSpot.h>
#include <cstdlib>
#include <geometry_msgs/Point.h>

int main(int argc, char **argv) {
        ros::init(argc, argv, "test_clean_spot");

        ros::NodeHandle n;
        ros::ServiceClient client = n.serviceClient<coverage_3d_srvs::CleanSpot>(
                        "/tidyup/clean_spot");

        coverage_3d_srvs::CleanSpot srv;

        srv.request.spot.header.frame_id = "/base_link";
        srv.request.spot.point.x = 0.6;
        srv.request.spot.point.y = 0.0;
        srv.request.spot.point.z = 0.65;
        srv.request.box_size = 0.1;
        if (client.call(srv)) {
                ROS_INFO_STREAM("Call Successful");
                return 0;
        } else {
                ROS_ERROR_STREAM("Service call failed " << client.getService());
                return 1;
        }

        return 0;
}