helper.cpp File Reference

#include "ros/ros.h"
#include <cav_srvs/PlanTrajectory.h>

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Functions
bool	callback (cav_srvs::PlanTrajectory::Request &req, cav_srvs::PlanTrajectory::Response &res)
int	main (int argc, char **argv)

Function Documentation

callback()

bool callback	(	cav_srvs::PlanTrajectory::Request &	req,
		cav_srvs::PlanTrajectory::Response &	res
	)

Definition at line 21 of file helper.cpp.

{
    if (req.initial_trajectory_plan.trajectory_id == "YieldReq"){
        res.trajectory_plan.trajectory_id = "YieldResp";
    } 
    ROS_ERROR("Yield callback");
    return true;
}

Referenced by main(), carma_wm::WMListener::setMapCallback(), carma_wm::WMListenerWorker::setMapCallback(), carma_wm::WMListener::setRouteCallback(), and carma_wm::WMListenerWorker::setRouteCallback().

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 32 of file helper.cpp.

{
  ros::init(argc, argv, "helper");
  ros::NodeHandle n;
 
  ros::ServiceServer service = n.advertiseService("yield_plugin/plan_trajectory", callback);
  ros::spin();
  ros::Duration(5).sleep();
 
  return 0;
}

References callback().

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