// reset Can-Configuration
bool srvCallback_Recover(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if(m_bisInitialized)
{
ROS_DEBUG("Service callback reset");
#ifdef __SIM__
res.success.data = true;
#else
res.success.data = m_CanCtrlPltf->resetPltf();
#endif
if (res.success.data) {
ROS_INFO("base resetted");
} else {
res.error_message.data = "reset of base failed";
ROS_WARN("Resetting base failed");
}
}
else
{
ROS_WARN("...base already recovered...");
res.success.data = true;
res.error_message.data = "base already recovered";
}
return true;
}
// reset Can-Configuration
bool srvCallback_Reset(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
ROS_DEBUG("Service Callback Reset");
res.success = m_CanCtrlPltf->resetPltf();
if (res.success)
ROS_INFO("Can-Node resetted");
else
res.errorMessage.data = "reset of can-nodes failed";
ROS_INFO("Reset of Can-Node FAILED");
return true;
}
// reset Can-Configuration
bool srvCallback_Recover(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
ROS_DEBUG("Service callback reset");
res.success.data = m_CanCtrlPltf->resetPltf();
if (res.success.data) {
ROS_INFO("Can-Node resetted");
} else {
res.error_message.data = "reset of can-nodes failed";
ROS_WARN("Reset of Can-Node FAILED");
}
return true;
}
