added SafeControllerService node

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -149,6 +149,7 @@ include_directories(
 # add_executable(${PROJECT_NAME}_node src/d_fall_pps_node.cpp)
 add_executable(ViconDataPublisher src/ViconDataPublisher.cpp)
 add_executable(PPSClient src/PPSClient.cpp)
+add_executable(SafeControllerService src/SafeControllerService.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -172,6 +173,8 @@ target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
 
 target_link_libraries(PPSClient ${catkin_LIBRARIES})
 
+target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
+
 #############
 ## Install ##
 #############

pps_ws/src/d_fall_pps/src/SafeControllerService.cpp

+//    Alternate controller that is expected to work.
+//    Copyright (C) 2017  Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+//    This program is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//
+//    This program is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "ros/ros.h"
+
+int main(int argc, char* argv[]) {
+    ROS_INFO_STREAM("fdsafsfdsalj");
+}