target_example.hh

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// Gazebo
#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>

// I/O streams
#include <iostream>

// Custom messages
#include "target_request.pb.h"
#include "target_response.pb.h"

#define PROMPT "> "

#define REQUEST_TOPIC   "~/grasp/target"
#define RESPONSE_TOPIC  "~/grasp/target/response"

#define GET_POSE        grasp::msgs::TargetRequest::GET_POSE
#define SET_POSE        grasp::msgs::TargetRequest::SET_POSE
#define GET_REST_POSE   grasp::msgs::TargetRequest::GET_REST_POSE

typedef const boost::shared_ptr<const grasp::msgs::TargetResponse>
    TargetResponsePtr;

// Functions

void setPose(gazebo::transport::PublisherPtr pub,
    ignition::math::Pose3d pose);

void getRestingPose(gazebo::transport::PublisherPtr pub);

void onTargetResponse(TargetResponsePtr & _msg);