Method actionCallback

opt_calibration/src/opt_calibration_node.cpp:267–298

}

void OPTCalibrationNode::actionCallback(const std_msgs::String::ConstPtr & msg)
{
  if (msg->data == "save" or msg->data == "saveExtrinsicCalibration")
  {
    ROS_INFO("Saving calibration results...");
    calibration_->optimize();
    save();
  }
  else if (msg->data == "start floor")
  {
    if (calibration_->floorAcquisition())
    {
      ROS_WARN("Floor acquisition already started.");
    }
    else
    {
      ROS_INFO("Floor acquisition started.");
      calibration_->startFloorAcquisition();
    }
  }
  else if (msg->data == "stop floor")
  {
    if (not calibration_->floorAcquisition())
      ROS_WARN("Floor acquisition not started.");
    else
      calibration_->stopFloorAcquisition();
  }
  else
  {
    ROS_ERROR_STREAM("Unknown action: \"" << msg->data << "\"!");
  }
}

void OPTCalibrationNode::spin()
{