// service callback functions
// function will be called when a service is querried
bool srvCallback_Init(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if (isInitialized_ == false) {
ROS_INFO("...initializing camera axis...");
// init powercubes
if (CamAxis_->Init(CamAxisParams_))
{
ROS_INFO("Initializing of camera axis succesful");
isInitialized_ = true;
res.success = 0; // 0 = true, else = false
}
else
{
ROS_ERROR("Initializing camera axis not succesful \n");
//res.success = 1; // 0 = true, else = false
//res.errorMessage.data = PCube->getErrorMessage();
}
}
else
{
ROS_ERROR("...camera axis already initialized...");
res.success = 1;
res.errorMessage.data = "camera axis already initialized";
}
return true;
}
// service callback functions
// function will be called when a service is querried
bool srvCallback_Init(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if (isInitialized_ == false) {
ROS_INFO("...initializing camera axis...");
// init powercubes
if (CamAxis_->Init(CamAxisParams_))
{
CamAxis_->setGearPosVelRadS(0.0f, MaxVel_);
ROS_INFO("Initializing of camera axis succesful");
isInitialized_ = true;
res.success.data = true;
res.error_message.data = "initializing camera axis successfull";
}
else
{
ROS_ERROR("Initializing camera axis not succesful \n");
res.success.data = false;
res.error_message.data = "initializing camera axis not successfull";
}
}
else
{
ROS_WARN("...camera axis already initialized...");
res.success.data = true;
res.error_message.data = "camera axis already initialized";
}
return true;
}