Commit ba2de049 authored by bucyril's avatar bucyril
Browse files

added basic service methods for safe controller

parent b3b87304
......@@ -15,7 +15,25 @@
// along with this program. If not, see <>.
#include "ros/ros.h"
#include "d_fall_pps/Controller.h"
#include "d_fall_pps/ViconData.h"
#include "d_fall_pps/Setpoint.h"
#include "d_fall_pps/MotorCommands.h"
using namespace d_fall_pps;
bool calculateControlOutput(d_fall_pps::Controller::Request &request, d_fall_pps::Controller::Response &response) {
ROS_INFO("calculate control output");
int main(int argc, char* argv[]) {
ros::init(argc, argv, "SafeControllerService");
ros::NodeHandle nodeHandle("~");
ros::ServiceServer service = nodeHandle.advertiseService("Controller", calculateControlOutput);
ROS_INFO("SafeControllerService ready");
return 0;
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