Change node to service

src/lhw_interfaces/CMakeLists.txt

@@ -64,6 +64,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg_vision/VisageSettings.msg"
   "msg_vision/PixelToXYZ.srv"
   "msg_vision/TransformXYZ.srv"
+  "srv_visage/FaceAnalysis.srv"
   "srv_intelligence/Scan.srv"
   "srv_nlp/DiscoverObject.srv"
   "action_intelligence/RobotAction.action"

src/lhw_interfaces/srv_visage/FaceAnalysis.srv

+uint16 setting
+---
+FacesDetected faces
\ No newline at end of file

src/lhw_visage/CMakeLists.txt

@@ -102,6 +102,7 @@ add_executable(visage_analysis
   #src/standalone_visage_face_analysis.cpp 
   #src/visage_face_analysis.cpp)
   src/standalone_visage_node.cpp
+  src/visage_service_server.cpp
   src/visage_node.cpp)
 target_link_libraries(visage_analysis 
   #${OpenCV_LIBRARIES}

src/lhw_visage/include/lhw_visage/visage_service_server.hpp

+#ifndef LHW_VISAGE_SERVICE_SERVER_HPP_ 
+#define LHW_VISAGE_SERVICE_SERVER_HPP_ 
+//#include <qi/applicationsession.hpp>
+//#include <qi/anyobject.hpp>
+
+#include <lhw_interfaces/srv/face_analysis.hpp>
+#include <rclcpp/rclcpp.hpp>
+    
+class VisageAnalysisServer : public rclcpp::Node
+{
+public:
+  explicit VisageAnalysisServer(const rclcpp::NodeOptions & options);
+  void callbackFaceAnalysis( const lhw_interfaces::srv::FaceAnalysis::Request::SharedPtr request,
+  const lhw_interfaces::srv::FaceAnalysis::Response::SharedPtr response );
+  ~VisageAnalysisServer();
+private:
+rclcpp::Service<lhw_interfaces::srv::FaceAnalysis>::SharedPtr serverFaceAnalysis_;
+
+};
+
+
+#endif // !LHW_VISAGE__VISAGE_FACE_ANALYSIS_HPP_

src/lhw_visage/src/visage_service_server.cpp

+#include "../include/lhw_visage/visage_service_server.hpp"
+
+using std::placeholders::_1;
+using std::placeholders::_2;
+
+
+ 
+VisageAnalysisServer::VisageAnalysisServer(const rclcpp::NodeOptions & options) : Node("VisageAnalysis", options)
+{
+
+    serverFaceAnalysis_ = this->create_service<lhw_interfaces::srv::FaceAnalysis>(
+        "face_analysis",
+        std::bind(&VisageAnalysisServer::callbackFaceAnalysis, this, _1, _2));
+    RCLCPP_INFO(this->get_logger(), "face analysis server started");
+}
+
+void VisageAnalysisServer::callbackFaceAnalysis( const lhw_interfaces::srv::FaceAnalysis::Request::SharedPtr request,
+    const lhw_interfaces::srv::FaceAnalysis::Response::SharedPtr response )
+{
+    //response->faces = face;
+    RCLCPP_INFO(this->get_logger(), "request for face sucess");
+
+}
+