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; }