Exemplos de BUT_PositionClicked_TOPIC em C++ (Cpp)

Exemplo n.º 1

Arquivo: clickable_positions_action_server.cpp Projeto: ipa-fxm/srs_public

  void goalCB()
  {
    // accept the new goal
    ROS_INFO("New goal");
    goal_ = as_.acceptNewGoal();

    std::string topic_suffix = BUT_PositionClicked_TOPIC(goal_->topic_suffix);
    position_clicked_subscriber_ = nh_.subscribe(topic_suffix, 1, &ClickablePositionsAction::positionClickedCallback, this);

    srs_interaction_primitives::ClickablePositions srv;
    srv.request.color = goal_->color;
    srv.request.frame_id = goal_->frame_id;
    srv.request.positions = goal_->positions;
    srv.request.radius = goal_->radius;
    srv.request.topic_suffix = goal_->topic_suffix;

    ros::service::waitForService(srs_interaction_primitives::ClickablePositions_SRV);

    if (clickable_positions_client_.call(srv))
    {

    }
    else
    {
      ROS_ERROR("Clickable positions not added");
      as_.setAborted();
    }

  }

Exemplo n.º 2

Arquivo: service_server.cpp Projeto: ankitasikdar/srs_public

bool clickablePositions(ClickablePositions::Request &req, ClickablePositions::Response &res)
{
  ROS_INFO("ADDING CLICK POSITIONS");

  std::vector<geometry_msgs::Point> positions;
  for (unsigned int i = 0; i < req.positions.size(); i++)
  {
    positions.push_back(req.positions.at(i));
  }
  ClickablePositionsMarker *clickPositions = new ClickablePositionsMarker(imServer,req.frame_id, req.topic_suffix, req.radius,
                                                                          req.color, positions);
  imServer->insert(clickPositions->getMarker(),
                   boost::bind(&ClickablePositionsMarker::markerFeedback, clickPositions, _1));
  imServer->applyChanges();

  res.topic = BUT_PositionClicked_TOPIC(req.topic_suffix);

  ROS_INFO("DONE");
  return true;
}