Ejemplo n.º 1
0
bool RosUi::services_b(rgbd_slam::rgbdslam_ros_ui_b::Request  &req,
                       rgbd_slam::rgbdslam_ros_ui_b::Response &res )
{
  ROS_INFO_STREAM("Got Service Request. Command: " << req.command << ". Value: " << ( req.value ? "True" : "False"));
  if     (req.command == "pause"            ){ pause(req.value); }
  else if(req.command == "record"           ){ bagRecording(req.value); }
  else if(req.command == "mapping"          ){ Q_EMIT toggleMapping(req.value); }
  else if(req.command == "store_pointclouds"){ toggleCloudStorage(req.value); }
  else{
      ROS_ERROR("Invalid service call commands: %s", req.command.c_str());
      ROS_ERROR("Valid commands are: {pause, record, mapping, store_pointclouds}");
      return false;
  }
  return true;
}
Ejemplo n.º 2
0
void Graphical_UI::toggleMappingPriv(bool mapping_on) {
    Q_EMIT toggleMapping(mapping_on);
}