int main(int argc, char **argv)
{
ros::init(argc, argv, "rps_robot_commander");
ros::NodeHandle n;
//~ ros::Subscriber rps_map_subscriber = n.subscribe("rps_map_data", 1, set_RPS_MAP);
ros::ServiceServer server_robot_command = n.advertiseService("rps_robot_command", start_robot_commander);
commander_to_get_robots_info = n.serviceClient<tms_msg_db::tmsdb_get_robots_info>("tmsdb_get_robots_info");
#ifdef SEND_COMMAND
client_smartpal5_control = n.serviceClient<tms_msg_rc::smartpal_control>("sp5_control");
#endif
client_smartpal5_speak = n.serviceClient<tms_msg_rc::smartpal_speak>("sp5_speak");
////////////////////////////
#ifdef USE_TMS_DB
srv_r.request.robots_id = 2;
if(commander_to_get_robots_info.call(srv_r))
ROS_INFO("Success robots_x = %lf, y = %lf, theta = %lf", srv_r.response.robots_x,srv_r.response.robots_y,srv_r.response.robots_theta);
else{
ROS_ERROR("Failed to call service get_robots_info\n");
return 0;
}
srv_smartpal_control.request.unit = UNIT_VEHICLE;
srv_smartpal_control.request.cmd = CMD_setPose;
srv_smartpal_control.request.arg.resize(3);
srv_smartpal_control.request.arg[0] = srv_r.response.robots_x;
srv_smartpal_control.request.arg[1] = srv_r.response.robots_y;
srv_smartpal_control.request.arg[2] = srv_r.response.robots_theta;
#else
srv_smartpal_control.request.unit = UNIT_VEHICLE;
srv_smartpal_control.request.cmd = CMD_setPose;
srv_smartpal_control.request.arg.resize(3);
srv_smartpal_control.request.arg[0] = 1000;
srv_smartpal_control.request.arg[1] = 1000;
srv_smartpal_control.request.arg[2] = 0.0;
#endif
#ifdef SEND_COMMAND
if(client_smartpal5_control.call(srv_smartpal_control)){
ROS_INFO("result: %d", srv_smartpal_control.response.result);
}
else{
ROS_ERROR("Failed to call service sp5_control");
return 0;
}
#endif
////////////////////////////
ros::spin();
return 0;
}
void emergencyStopHandler(std_msgs::Bool msg)
{
if (msg.data)
{
pending_bricks.clear();
robot_client.call(cmdResetMotion,cmdRes);
robot_state = emergency_stop;
}
else
{
robot_client.call(cmdOpenGripper,cmdRes);
robot_state = idle;
}
}
void joint_state_cb(const sensor_msgs::JointStateConstPtr& js){
if (js->position.size() > 4){ //Message from the base or the arm
js_cur = *js;
last_status = sbs;
if(!checkIfSafe())
sbs.status = sbs.PAUSED;
else
sbs.status = sbs.RUNNING;
sb_req.status = sbs;
sb_req.requester = "mico_safety_node";
if(sbs.status != last_status.status){
if(stopbase_client.call(sb_req,sb_resp)){
ROS_DEBUG("Made stop_base call");
}
else{
ROS_ERROR("Stop base service call failed!");
ros::shutdown();
}
}
}
};
/*
* Check the busy flag
*
* Poll for the busy flag returns true if busy, false if not
*/
bool isADCBusy(ADC adc)
{
//Define and fill in a service request
hardware_interface::ReadI2CRegister read;
read.request.addr = adc;
read.request.reg = ADC_BUSY;
read.request.size = 1;
//Send request
if(read_register_svr.call(read))
{
//Sussecful read
if(read.response.data[0])
{
//Still busy
return true;
}
else
{
//Not busy!
return false;
}
}
else
{
//Unsussesful read!!!
//Do error handeling
}
return false;
}
void moveToJointState(const float* js){
/*moveit::planning_interface::MoveGroup group("arm");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
group.setPlanningTime(5.0); //10 second maximum for collision computation*/
moveit_utils::MicoMoveitJointPose::Request req;
moveit_utils::MicoMoveitJointPose::Response res;
for(int i = 0; i < 6; i++){
switch(i) {
case 0 : req.target.joint1 = js[i]; break;
case 1 : req.target.joint2 = js[i]; break;
case 2 : req.target.joint3 = js[i]; break;
case 3 : req.target.joint4 = js[i]; break;
case 4 : req.target.joint5 = js[i]; break;
case 5 : req.target.joint6 = js[i]; break;
}
//ROS_INFO("Requested angle: %f", q_vals.at(i));
}
if(client_joint_command.call(req, res)){
ROS_INFO("Call successful. Response:");
ROS_INFO_STREAM(res);
} else {
ROS_ERROR("Call failed. Terminating.");
//ros::shutdown();
}
}
void jointsCall()
{
//ここをどうするか？
for(int i = 0; i < okao_id.size(); ++i)
{
humans_msgs::HumanImgSrv hs;
//hs.request.rule = rule;
hs.request.src.max_okao_id = okao_id[i];
//okao_client::OkaoStack okao_img;
//okao_img.request.person.okao_id = okao_id;
if( srv.call( hs ) )
{
//cout << "okao_id:" << okao_id[i] << ", x,y ="
// << hs.response.dst.p.x << ","<< hs.response.dst.p.y << endl ;
markerPublisher( hs.response.dst, hs.response.img );
}
else
{
cout << "not found!"<<endl;
}
}
}
/* processData is the main decision function that
* will publish commands to the motor controller
* node and possibly ask for arduino data.
*/
void processData() {
//geometry_msgs::Twist command;
beagle_pkg::status status;
if(ard_client.call(ard_data)) {
ROS_INFO("lidar data was %f, arduino reading was %f\n", scan_data.range_min, ard_data.response.distance);
if(ard_data.response.distance > 5 && scan_data.range_min > 5) {
status.command = 0;
}
else if(ard_data.response.distance <= 0 && scan_data.range_min <= 0) {
status.command = 0;
}
else if(ard_data.response.distance > scan_data.range_min) {
status.command = 1;
}
else {
status.command = 2;
}
/* TODO: look at global data (scan_data, gps_data, ard_data)
* and make decision of what to send to the motor node.
*/
vel_pub.publish(status);
}
else {
ROS_ERROR("Failed to call ard service");
}
}
//=============================================================
//名前：TurnScan
//説明：首振りの方向折り返し
//=============================================================
void ThermalScanning::TurnScan(void)
{
//std_msgs::Float64 tilt_controller_command_msg;
if(cw == -1) // 左回りの場合
{
start_angle = MIN_YAW_ANGLE_CAM;
end_angle = MAX_YAW_ANGLE_CAM;
pm = 1;
}else if(cw == 1){ // 右回りの場合
start_angle = MAX_YAW_ANGLE_CAM;
end_angle = MIN_YAW_ANGLE_CAM;
pm = -1;
}
// ダイナミクセルのスピードの設定
if(Scan_state == 0 || Scan_state == 5 || Scan_state == 6) // 通常探索
{
srv.request.speed = MOTOR_SPEED;
}
else if(Scan_state == 1) // 強化探索
{
srv.request.speed = MOTOR_SPEED2;
}
dyna_client.call(srv);
// ダイナミクセルの角度を初期位置に移動する
// TODO ダイナミクセルの角度をDyna_angleに変更する処理を入れる
Dyna_angle = start_angle;
tilt_controller_command_msg.data = Dyna_angle;
}
int main(int argc, char **argv){
ros::init(argc, argv, "run_pose_estimation_for_scene_screenshot");
ros::NodeHandle nodeHandle = ros::NodeHandle("~");
global = nodeHandle.serviceClient<MsgT>("/inSceneDetector/detect");
if (!once){
//get screen shot pose
ROS_INFO("Subscribing to detection service for screen shot pose...");
ros::service::waitForService("/inSceneDetector/detect");
MsgT msgglobal01;
msgglobal01.request.scenario = "detect_screen_shot";
if(global.call(msgglobal01)) {
//printResults(msgglobal01);
pcl::console::print_value("Screenshot detected!\n");
} else pcl::console::print_error("Screenshot not detected!\n");
once = true;
}
ros::spinOnce();
return 0;
}
std::vector<Brick> getBricks()
{
std::vector<Brick> retVec;
rc_vision::getBricks obj;
if(!_serviceGetBricks.call(obj))
{
printConsole("Failed to call the 'serviceGetBricks'");
}
else
{
for(unsigned int i=0; i<obj.response.size.size(); i++)
{
Brick brick;
brick.color = obj.response.color[i];
brick.posX = obj.response.posX[i];
brick.posY = obj.response.posY[i];
brick.size = obj.response.size[i];
brick.theta = obj.response.theta[i];
retVec.push_back(brick);
}
}
return retVec;
}
void anyBrickCallback(std_msgs::Bool msg)
{
// Fetch robot position
kuka_rsi::getConfiguration getQObj;
// Call service
if(!_serviceGetConf.call(getQObj))
printConsole("Failed to call the 'serviceKukaGetConfiguration'");
// Get information
bool same = true;
for(int i=0; i<6; i++)
{
if(fabs(getQObj.response.q[i]*DEGREETORAD - _qIdle[i]) > 0.1)
{
same = false;
break;
}
}
_anyBricksMutex.lock();
_anyBricks = msg.data;
_anyBricksMutex.unlock();
_qMutex.lock();
_positionQIdle = same;
_qMutex.unlock();
}
void changeDirConveyerBelt(bool dir) // true = reverse
{
rc_plc::ChangeDirection obj;
obj.request.direction = dir;
if(!_serviceChangeDir.call(obj))
printConsole("Failed to call the 'serviceChangeDirConveyer'");
}
void startConveyerBelt(bool dir = false)
{
rc_plc::StartConv obj;
obj.request.direction = dir;
if(!_serviceStart.call(obj))
printConsole("Failed to call the 'serviceStartConveyer'");
}
/**
* @brief Callback functions for datalink routing, channel 1
*
*/
void sub1_callback(const uav_control::DFrame msg)
{
// message from GCS, to be relayed to quadcopter
if(msg.target_id != SYSID){
uav_control::datalink_send ss;
ss.request.source_id = msg.source_id;
ss.request.target_id = msg.target_id;
ss.request.route = msg.route;
ss.request.len = msg.len;
int i;
for(i=0; i<msg.len; i++)
ss.request.payload[i] = msg.payload[i];
if(client_sub1.call(ss)){
switch(ss.response.err){
case 0: //ROS_INFO("successful");
break;
case 1: ROS_ERROR("relay error: invalid channel");
break;
case 2: ROS_ERROR("relay error: channel not initialized");
break;
case 3: ROS_ERROR("relay error: sending failed");
break;
default: ROS_ERROR("relay error: unknown failure");
break;
}
}
}
}
bool plotSummary(ros::ServiceClient& sum_client)
{
PlanningSummary planning_sum;
if (!sum_client.call(planning_sum))
{
return false;
}
unsigned int cols = planning_sum.response.score_labels.size();
for (unsigned int i = 0; i < planning_sum.response.score_labels.size(); i++)
{
cout << planning_sum.response.score_labels[i] << "\t";
}
cout << endl;
for (unsigned int i = 0; i < planning_sum.response.score_values.size(); i++)
{
if (i % cols == 0)
{
cout << i / cols << ": ";
}
cout << planning_sum.response.score_values[i];
cout << "\t";
if (i % cols == cols - 1)
{
cout << endl;
}
}
return true;
}
void TrajectoryMapWriter::draw(MapWriterInterface *interface)
{
if(!initialized_) return;
hector_nav_msgs::GetRobotTrajectory srv_path;
if (!service_client_.call(srv_path)) {
ROS_ERROR_NAMED(name_, "Cannot draw trajectory, service %s failed", service_client_.getService().c_str());
return;
}
std::vector<geometry_msgs::PoseStamped>& traj_vector (srv_path.response.trajectory.poses);
size_t size = traj_vector.size();
std::vector<Eigen::Vector2f> pointVec;
pointVec.resize(size);
for (size_t i = 0; i < size; ++i){
const geometry_msgs::PoseStamped& pose (traj_vector[i]);
pointVec[i] = Eigen::Vector2f(pose.pose.position.x, pose.pose.position.y);
}
if (size > 0){
//Eigen::Vector3f startVec(pose_vector[0].x,pose_vector[0].y,pose_vector[0].z);
Eigen::Vector3f startVec(pointVec[0].x(),pointVec[0].y(),0.0f);
interface->drawPath(startVec, pointVec);
}
}
void testIKServiceCall()
{
// define goal pose for right hand end effector
Eigen::Affine3d goal_pose = Eigen::Affine3d::Identity();
goal_pose *= Eigen::AngleAxisd(3.141593, Eigen::Vector3d::UnitY());
goal_pose.translation()[0] = 0.6;
goal_pose.translation()[1] = -0.5;
goal_pose.translation()[2] = 0.1;
visual_tools_->publishAxisLabeled(goal_pose, "goal_pose");
// call ik service
geometry_msgs::PoseStamped tf2_msg;
tf2_msg.header.stamp = ros::Time::now();
tf::poseEigenToMsg(goal_pose, tf2_msg.pose);
ik_srv_.request.pose_stamp.push_back(tf2_msg);
// TODO: not the right way to call this? compile error on this section...
if (ik_client_right_.call(ik_srv_))
{
ROS_DEBUG_STREAM_NAMED("testIKServiceCall","ik service called successfully.");
}
else
{
ROS_WARN_STREAM_NAMED("testIKServiceCall","Failed to call ik service...");
}
}
bool sendAndMonitorTask()
{
ArmRequest req;
ArmResponse res;
uint32_t srv_call_counter = 0;
bool succeeded = false;
std::vector<TaskDetails> recovery_tasks;
req.tasks_codes = tasks_codes_;
while((srv_call_counter++ < attempts_) && !succeeded)
{
ROS_INFO_STREAM(ros::this_node::getName()<<": Task '"<<name_<<"' attempt "<<srv_call_counter);
succeeded = arm_client_.call(req,res) && (bool)res.completed;
ROS_INFO_STREAM(ros::this_node::getName()<<": Task '"<<name_<<"' state "
<<(succeeded ?" succeeded":" failed"));
}
error_code_ = res.error_code;
// on failure execute recovery task serially
if(!succeeded && getRecoveryTasks(recovery_tasks))
{
std::vector<TaskDetails>::iterator i;
for(i = recovery_tasks.begin(); i != recovery_tasks.end(); i++)
{
if(!i->sendAndMonitorTask() )
{
// checking termination error, and exiting
recovery_task_termination_error_ = i->terminationErrorReceived();
break;
}
}
}
completed_ = succeeded;
return completed_;
}
unsigned int nrControllers()
{
pr2_mechanism_msgs::ListControllers srv_msg;
if (!list_srv_.call(srv_msg)) return 0;;
return srv_msg.response.controllers.size();
}
void heartMonitor(ros::NodeHandle n, ros::ServiceClient client, estop_control::estopSignal srv)
{
time(&now); // get current time; same as: now = time(NULL)
if(heartbeat == true)
{
heartbeat = false;
ROS_INFO("beating");
previousTime = now;
}
if(difftime(now, previousTime) > 1) // 1 second delay
{
ROS_INFO("heart stopped"); //estop
// ros::ServiceClient client = n.serviceClient<estop_control::estopSignal>("estop_control");
// estop_control::estopSignal srv;
srv.request.message = 1;
if (client.call(srv))
{
ROS_INFO("Recieved handshake: %d", (bool)srv.response.handshake);
}
else
{
ROS_ERROR("Failed to call service estop_control");
}
//client.shutdown();
}
}
void callback(const nav_msgs::Odometry::ConstPtr &odom)
{
if(isnan(last_point.x) && isnan(last_point.y) && isnan(last_point.z)) {
last_point = odom->pose.pose.position;
return;
}
double distance = sqrt(pow(odom->pose.pose.position.x-last_point.x,2)+pow(odom->pose.pose.position.y-last_point.y,2));
total_distance += distance;
std_msgs::Float32 pub_dist;
pub_dist.data = (float) total_distance;
mileage_pub.publish(pub_dist);
last_point = odom->pose.pose.position;
if(save % save_interval == 0) {
ros::param::set("/saved_mileage",total_distance);
srv.request.param = "saved_mileage";
if (client.call(srv))
ROS_DEBUG("Save mileage: success");
else
ROS_WARN("Save mileage: failed");
save = 0;
}
save++;
}
bool callService::callTheService()
{
if(client_.call(srv_)){
double x,y,z,qx,qy,qz,qw;
x = srv_.response.final_pose.position.x;
y = srv_.response.final_pose.position.y;
z = srv_.response.final_pose.position.z;
qx = srv_.response.final_pose.orientation.x;
qy = srv_.response.final_pose.orientation.y;
qz = srv_.response.final_pose.orientation.z;
qw = srv_.response.final_pose.orientation.w;
ROS_INFO("Pose: tx= %5.4lf %5.4lf %5.4lf quat= %5.3lf %5.3lf %5.3lf %5.3lf, cost= %5.3lf",
srv_.response.final_pose.position.x,
srv_.response.final_pose.position.y,
srv_.response.final_pose.position.z,
srv_.response.final_pose.orientation.x,
srv_.response.final_pose.orientation.y,
srv_.response.final_pose.orientation.z,
srv_.response.final_pose.orientation.w,
srv_.response.final_cost_per_observation);
tf::Transform camera_to_target;
tf::Quaternion quat(qx,qy,qz,qw);
camera_to_target.setOrigin(tf::Vector3(x,y,z));
camera_to_target.setRotation(quat);
tf::StampedTransform stf(camera_to_target, ros::Time::now(), optical_frame_.c_str(), "target_frame");
tf_broadcaster_.sendTransform(stf);
return(true);
}
ROS_ERROR("Target Location Failure");
return(false);
}
virtual void Update( ) {
/*
common::Time sim_time = world->GetSimTime();
Real time = (sim_time - start_time).Double();
Real position = this->joints[0]->GetAngle( 0 ).Radian( );
Real velocity = this->joints[0]->GetVelocity( 0 );
Real torque = control( time, position, velocity );
this->joints[0]->SetForce( 0, torque );
last_time = sim_time;
*/
gazebo::common::Time sim_time = world->GetSimTime();
pendulum::rpc_command state;
state.request.time = (sim_time - start_time).Double();
state.request.position = this->joints[0]->GetAngle( 0 ).Radian( );
state.request.velocity = this->joints[0]->GetVelocity( 0 );
if( client.call(state) ) {
Real torque = state.response.torque;
this->joints[0]->SetForce( 0, torque );
}
last_time = sim_time;
}
rvMCUReport getReport()
{
rvMCUReport rv;
if (reportClient.call(reportSrv))
{
rv.length = reportSrv.response.length;
rv.lDirection = reportSrv.response.lDirection;
rv.lNum = reportSrv.response.lNum;
rv.rDirection = reportSrv.response.rDirection;
rv.rNum = reportSrv.response.rNum;
rv.rearDirection = reportSrv.response.rearDirection;
rv.rearNum = reportSrv.response.rearNum;
rv.headPosition = reportSrv.response.headPosition;
rv.isLedOn = reportSrv.response.isLedOn;
rv.isIrOn = reportSrv.response.isIrOn;
rv.isDetectedBarrier = reportSrv.response.isDetectedBarrier;
ROS_INFO("MCU Report:\nlength=%d", rv.length);
ROS_INFO("Left direction:num=%d:%d", rv.lDirection, rv.lNum);
ROS_INFO("Right direction:num=%d:%d", rv.rDirection, rv.rNum);
ROS_INFO("Rear direction:num=%d:%d", rv.rearDirection, rv.rearNum);
ROS_INFO("headPosition=%d", rv.headPosition);
ROS_INFO("isLedOn=%d,isIrOn=%d,isDetectedBarrier=%d", rv.isLedOn, rv.isIrOn, rv.isDetectedBarrier);
}
else
{
ROS_ERROR("Failed to call service rovioReport");
}
return rv;
}
void send_reset() {
hdpc_com::ChangeStateMachine change_state;
change_state.request.event = EVENT_RESET;
if (!state_machine_client.call(change_state)) {
ROS_WARN("Change state machine: reset request failed");
}
}
/*
createSimulatePlaneCallback
This is the callback used to handle any users wishing to create a new plane. This could be used for setting
up a course as well.
*/
bool createSimulatedPlaneCallback(AU_UAV_ROS::CreateSimulatedPlane::Request &req, AU_UAV_ROS::CreateSimulatedPlane::Response &res)
{
//create a service to get a plane ID to use
AU_UAV_ROS::RequestPlaneID srv;
srv.request.requestedID = req.requestedID;
//check to make sure the client call worked (regardless of return values from service)
if(requestPlaneIDClient.call(srv))
{
res.planeID = srv.response.planeID;
if(srv.response.planeID == -1)
{
ROS_ERROR("Couldn't create plane with ID %d", req.requestedID);
return false;
}
//create and add our plane to the list of simulated planes
//AU_UAV_ROS::SimulatedPlane newPlane(srv.response.planeID, req);
simPlaneMap[srv.response.planeID] = AU_UAV_ROS::SimulatedPlane(srv.response.planeID, req);
//plane created successfully
return true;
}
else
{
//if this happens, chances are the coordinator isn't running
ROS_ERROR("Did not receive an ID from coordinator");
return false;
}
}
void ubicacionCallback(const vrep_common::ObjectGroupData msgUbicacionPatas)
{
for(int k=1; k<Npatas+1; k++){
ubicacionRobot.coordenadaPata_x[k-1]=msgUbicacionPatas.floatData.data[0+k*Npatas/2];
ubicacionRobot.coordenadaPata_y[k-1]=msgUbicacionPatas.floatData.data[1+k*Npatas/2];
ubicacionRobot.coordenadaPata_z[k-1]=msgUbicacionPatas.floatData.data[2+k*Npatas/2];
//-- Transformacion de trayectoria a Sistema de Pata
srv_Trans_MundoPata.request.modo=Mundo_Pata;
srv_Trans_MundoPata.request.Npata=k-1;
srv_Trans_MundoPata.request.x_S0=ubicacionRobot.coordenadaPata_x[k-1];
srv_Trans_MundoPata.request.y_S0=ubicacionRobot.coordenadaPata_y[k-1];
srv_Trans_MundoPata.request.z_S0=ubicacionRobot.coordenadaPata_z[k-1];
srv_Trans_MundoPata.request.x_UbicacionRob=ubicacionRobot.coordenadaCuerpo_x;
srv_Trans_MundoPata.request.y_UbicacionRob=ubicacionRobot.coordenadaCuerpo_y;
srv_Trans_MundoPata.request.theta_Rob=ubicacionRobot.orientacionCuerpo_yaw;
if (client_Trans_MundoPata.call(srv_Trans_MundoPata))
{ ubicacionRobot.coordenadaPataSistemaPata_x[k-1] = srv_Trans_MundoPata.response.x_Pata;
ubicacionRobot.coordenadaPataSistemaPata_y[k-1] = srv_Trans_MundoPata.response.y_Pata;
ubicacionRobot.coordenadaPataSistemaPata_z[k-1] = srv_Trans_MundoPata.response.z_Pata;
// ROS_INFO("Servicio motores: q1=%.3f; q2=%.3f; q3=%.3f\n", _q1, _q2, _q3);
} else {
ROS_ERROR("Nodo6:[%d] servicio de Trans_MundoPata no funciona\n",k-1);
// return;
}
// ROS_INFO("Nodo6: pata[%d], x=%.3f, y=%.3f",k-1,ubicacionRobot.coordenadaPata_x[k-1],ubicacionRobot.coordenadaPata_y[k-1]);
}
infoPatas = true;
}
/*
Function to place the currently grasped object on the object named <container_name>
*/
void place(std::string container_name)
{
world_model_srv.request.base_frame = "gripperbot_base";
world_model_srv.request.target_frame = container_name;
if(world_model_client.call(world_model_srv))
{
if(world_model_srv.response.success)
{
if(world_model_srv.response.pose.position.x < 0)
return;
if(world_model_srv.response.pose.position.z < 0)
world_model_srv.response.pose.position.z = -world_model_srv.response.pose.position.z;
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z+0.1);
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z);
opengripper();
movegripperbot(world_model_srv.response.pose.position.x, world_model_srv.response.pose.position.y, world_model_srv.response.pose.position.z+0.1);
}
else
{
ROS_ERROR("Transform between object and gripperbot_base doesnt exist");
}
}
else
{
ROS_ERROR("Failed to call service /world_model/get_transform");
}
}
void moveMouse(ros::ServiceClient& client, const cv::Point2f& goal)
{
agario_mouse::Mouse srv;
srv.request.x = (int)goal.x + MOUSE_CALIBRATE_X;
srv.request.y = (int)goal.y + MOUSE_CALIBRATE_Y;
client.call(srv);
}
bool rotate_cb(mantis_data_collection::dataCollect::Request &req, mantis_data_collection::dataCollect::Response &res)
{
std_msgs::UInt16 command;
command.data=0;
mantis_data_collection::process_cloud srv;
srv.request.objectName = req.objectName;
//following line added by CG along with following // comments to make useful for one angle
command.data = req.delta;
//while(command.data<360)
//{
//ros::Rate loop_rate(.1);
srv.request.in_cloud = cloud_to_process;
srv.request.angle = command.data;
pan_client.call(srv);
srv.response.result = 1;
pan_pub.publish(command);
//std::cout << "Angle " << srv.request.angle << "\n";
//ros::spinOnce();
//loop_rate.sleep();
//command.data += req.delta;
//}
res.result = 1;
std::cout << "Status: " << srv.response.result << "\n";
return 1;
}