Commit 24efd52a authored by bucyril's avatar bucyril
Browse files

added CentralManagerService

parent 94abccb9
......@@ -62,6 +62,7 @@ add_message_files(
AngleCommand.msg
RateCommand.msg
Setpoint.msg
CrazyflieContext.msg
)
## Generate services in the 'srv' folder
......@@ -75,6 +76,7 @@ add_service_files(
MotorController.srv
AngleController.srv
RateController.srv
CentralManager.srv
)
## Generate actions in the 'action' folder
......@@ -159,6 +161,7 @@ include_directories(
add_executable(ViconDataPublisher src/ViconDataPublisher.cpp)
add_executable(PPSClient src/PPSClient.cpp)
add_executable(SafeControllerService src/SafeControllerService.cpp)
add_executable(CentralManagerService src/CentralManagerService.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
......@@ -184,6 +187,8 @@ target_link_libraries(PPSClient ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
#############
## Install ##
#############
......
// The service that manages the context of the student groups.
// 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"
#include "d_fall_pps/CrazyflieContext.h"
#include "d_fall_pps/CentralManager.h"
using namespace d_fall_pps;
/*TODO:
request from paul
Specificy controller in a file
*/
bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
ROS_INFO("cnetal manager");
return true;
}
int main(int argc, char* argv[]) {
ros::init(argc, argv, "CentralManagerService");
ros::NodeHandle nodeHandle("~");
ros::ServiceServer service = nodeHandle.advertiseService("CentralManager", returnCrazyflieContext);
ROS_INFO("CentralManagerService ready");
ros::spin();
return 0;
}
string groupName
---
CrazyflieContext context
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