int main(int argc, char **argv)
{
ros::init(argc, argv, "crustcrawler_server");
ros::NodeHandle n;
#if(DEBUG_MODE)
ROS_INFO("crustcrawler_arm is in debug mode");
#endif
#if(SERIAL_ON)
lsc.setPort(port);
lsc.setBaudRate(B115200);
if(!lsc.openPort())
{
ROS_INFO("Unable to open serial port for crustcrawler_server");
return 1;
}
ROS_INFO("Serial port open");
#endif
ros::ServiceServer ssp_service = n.advertiseService("set_servo_position", ssp);
ROS_INFO("set_servo_position service started");
ros::ServiceServer sap_service = n.advertiseService("set_all_servo_positions", sap);
ROS_INFO("set_all_servo_positions service started");
ros::ServiceServer set_position_service = n.advertiseService("set_position", set_position);
ROS_INFO("set_position service started");
ros::ServiceServer gsp_service = n.advertiseService("get_servo_position", gsp);
ROS_INFO("get_servo_position service started");
ros::ServiceServer init_servo_service = n.advertiseService("init_servo",init_servo);
ros::ServiceServer get_light_service = n.advertiseService("get_light",light);
ros::ServiceServer send_init_message_service = n.advertiseService("send_init_message",send_init_message);
ROS_INFO("init_servo service started");
ros::spin();
#if(SERIAL_ON)
lsc.closePort();
ROS_INFO("Serial port closed");
#endif
return 0;
}
