bool srvCallback_Recover(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if (isInitialized_ == true) {
ROS_INFO("Recovering camera axis");
// stopping all arm movements
if (CamAxis_->RecoverAfterEmergencyStop()) {
ROS_INFO("Recovering camera axis succesful");
res.success = 0; // 0 = true, else = false
} else {
ROS_ERROR("Recovering camera axis not succesful. error");
}
} else {
ROS_ERROR("...camera axis already recovered...");
}
return true;
}
bool srvCallback_Recover(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if (isInitialized_) {
ROS_INFO("Recovering camera axis");
// stopping all arm movements
if (CamAxis_->RecoverAfterEmergencyStop()) {
ROS_INFO("Recovering camera axis successfully");
res.success.data = true;
res.error_message.data = "camera axis successfully recovered";
} else {
ROS_ERROR("Recovering camera axis not successfully. error");
res.success.data = false;
res.error_message.data = "recovering camera axis failed";
}
} else {
ROS_WARN("...camera axis already recovered...");
res.success.data = true;
res.error_message.data = "camera axis already recovered";
}
return true;
}