From 19c06e15d8fbbf12ea0045ace92bc805fdbed0c2 Mon Sep 17 00:00:00 2001
From: pmlab <lfreixas@iri.upc.edu>
Date: Wed, 27 Jun 2018 17:15:22 +0200
Subject: [PATCH] changed haptic pulse srv type (it is now defined in
TriggerHapticPulse )
---
CMakeLists.txt | 2 +-
include/htc_vive_tracker_alg_node.h | 4 ++--
src/htc_vive_tracker_alg_node.cpp | 5 ++---
srv/TriggerHapticPulse.srv | 4 ++++
4 files changed, 9 insertions(+), 6 deletions(-)
create mode 100644 srv/TriggerHapticPulse.srv
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2c65da0..d745d77 100644
--- a/CMakeLists.txt
+++ b/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
)
diff --git a/include/htc_vive_tracker_alg_node.h b/include/htc_vive_tracker_alg_node.h
index ce2c6a5..9d41707 100644
--- a/include/htc_vive_tracker_alg_node.h
+++ b/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);
diff --git a/src/htc_vive_tracker_alg_node.cpp b/src/htc_vive_tracker_alg_node.cpp
index 4e9eea9..1d8d703 100644
--- a/src/htc_vive_tracker_alg_node.cpp
+++ b/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";
}
diff --git a/srv/TriggerHapticPulse.srv b/srv/TriggerHapticPulse.srv
new file mode 100644
index 0000000..ce595fb
--- /dev/null
+++ b/srv/TriggerHapticPulse.srv
@@ -0,0 +1,4 @@
+string device_name
+---
+bool success
+string message
--
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