changed haptic pulse srv type (it is now defined in TriggerHapticPulse )

CMakeLists.txt

@@ -10,7 +10,6 @@ find_package(catkin REQUIRED)
 # ******************************************************************** 
 find_package(catkin REQUIRED COMPONENTS roscpp rospy iri_base_algorithm std_msgs geometry_msgs 
 tf
-std_srvs
 message_generation
 )
 
@@ -36,6 +35,7 @@ find_package(htc_vive_tracker REQUIRED)
 add_service_files(
    FILES
    GetButtonPressed.srv
+   TriggerHapticPulse.srv
 #   Service2.srv
 )
 

include/htc_vive_tracker_alg_node.h

@@ -28,6 +28,7 @@
 #include <iri_base_algorithm/iri_base_algorithm.h>
 #include "htc_vive_tracker_alg.h"
 #include "iri_htc_vive_tracker/GetButtonPressed.h"
+#include "iri_htc_vive_tracker/TriggerHapticPulse.h"
 
 // [publisher subscriber headers]
 #include <geometry_msgs/TransformStamped.h>
@@ -37,7 +38,6 @@
 
 // [action server client headers]
 
-#include <std_srvs/Trigger.h>
 /**
  * \brief IRI ROS Specific Algorithm Class
  *
@@ -79,7 +79,7 @@ class HtcViveTrackerAlgNode : public algorithm_base::IriBaseAlgorithm<HtcViveTra
     bool publish_hmd_;
  
     ros::ServiceServer trigger_pulse_server_;
-    bool trigger_pulse_serverCallback(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
+    bool trigger_pulse_serverCallback(iri_htc_vive_tracker::TriggerHapticPulse::Request &req, iri_htc_vive_tracker::TriggerHapticPulse::Response &res);
 
     ros::ServiceServer get_button_server_;
     bool get_button_serverCallback(iri_htc_vive_tracker::GetButtonPressed::Request &req, iri_htc_vive_tracker::GetButtonPressed::Response &res);

src/htc_vive_tracker_alg_node.cpp

@@ -248,9 +248,8 @@ void HtcViveTrackerAlgNode::SetValuesWamToChaperone(const std::string & hand_eye
 	);
 	
 }
-bool HtcViveTrackerAlgNode::trigger_pulse_serverCallback(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res){
-	
-	res.success = this->alg_.TriggerHapticPulse(this->device_name_, this->haptic_pulse_strength_);
+bool HtcViveTrackerAlgNode::trigger_pulse_serverCallback(iri_htc_vive_tracker::TriggerHapticPulse::Request &req, iri_htc_vive_tracker::TriggerHapticPulse::Response &res){
+	res.success = this->alg_.TriggerHapticPulse(req.device_name, this->haptic_pulse_strength_);
 	if (!res.success){
 		res.message = "Device "+ this->device_name_ + " not found";	
 	}

srv/TriggerHapticPulse.srv

+string device_name
+---
+bool success
+string message