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;
}
void Graphical_UI::toggleMappingPriv(bool mapping_on) {
Q_EMIT toggleMapping(mapping_on);
}