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/*
* Copyright (c) 2014, Open Source Robotics Foundation, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Open Source Robotics Foundation, Inc. nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure/TestConfig.h>
void callback(dynamic_reconfigure_test::TestConfig &config, uint32_t level) {
ROS_INFO("Reconfigure request: %i %f %s %s %i %i Group1: %i Group2: %f %s",
config.int_, config.double_, config.str_.c_str(), config.mstr_.c_str(),
(int) config.bool_, config.level, config.group1_int,
config.group2_double, config.group2_string.c_str());
}
int main(int argc, char **argv) {
ros::init(argc, argv, "dynamic_reconfigure_test");
dynamic_reconfigure::Server<dynamic_reconfigure_test::TestConfig> server;
dynamic_reconfigure::Server<dynamic_reconfigure_test::TestConfig>::CallbackType f;
f = boost::bind(&callback, boost::placeholders::_1, boost::placeholders::_2);
server.setCallback(f);
ROS_INFO("Spinning node");
ros::spin();
return 0;
}
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