Beispiel #1
0
	// 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;
	}
Beispiel #2
0
	// 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;
	}