Commit b263baa9 authored by phfriedl's avatar phfriedl
Browse files

Services work!

parent 0854cff9
......@@ -11,11 +11,8 @@
<!-- We will need something similar for our Control node(s)
<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="FlightControl">
<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
<!-- When we have a GUI, this has to be adapted and included
<node pkg="d_fall_pps" name="GUI" output="screen" type="GUI">
......@@ -206,7 +206,7 @@ int main(int argc, char* argv[]){
//service: now only one available: to add several services depending on controller
rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateCommand");
rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
......@@ -22,6 +22,15 @@
using namespace d_fall_pps;
request from paul
Specificy controller in a file
bool calculateControlOutput(RateController::Request &request, RateController::Response &response) {
ROS_INFO("calculate control output");
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