Use std_srvs/Empty instead of custom Zivid name

The messages are equivalent, but std_srvs is also usable by other packages without having to build the driver (+ install SDK)
sam-xl · Sep 26, 2024 · f1960d4 · f1960d4
1 parent 227120c
commit f1960d4
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/zivid_camera/include/zivid_camera.h b/zivid_camera/include/zivid_camera.h
@@ -5,6 +5,7 @@
 
 #include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/Image.h>
+#include <std_srvs/Empty.h>
 
 #include <image_transport/image_transport.h>
 
@@ -42,9 +43,9 @@ class ZividCamera
   bool cameraInfoModelNameServiceHandler(CameraInfoModelName::Request& req, CameraInfoModelName::Response& res);
   bool cameraInfoSerialNumberServiceHandler(CameraInfoSerialNumber::Request& req,
                                             CameraInfoSerialNumber::Response& res);
-  bool captureServiceHandler(Capture::Request& req, Capture::Response& res);
+  bool captureServiceHandler(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
   bool captureAndSaveServiceHandler(CaptureAndSave::Request& req, CaptureAndSave::Response& res);
-  bool capture2DServiceHandler(Capture2D::Request& req, Capture2D::Response& res);
+  bool capture2DServiceHandler(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
   bool captureAssistantSuggestSettingsServiceHandler(CaptureAssistantSuggestSettings::Request& req,
                                                      CaptureAssistantSuggestSettings::Response& res);
   bool loadSettingsFromFileServiceHandler(LoadSettingsFromFile::Request& req, LoadSettingsFromFile::Response&);

diff --git a/zivid_camera/src/zivid_camera.cpp b/zivid_camera/src/zivid_camera.cpp
@@ -346,7 +346,7 @@ bool ZividCamera::cameraInfoSerialNumberServiceHandler(zivid_camera::CameraInfoS
   return true;
 }
 
-bool ZividCamera::captureServiceHandler(Capture::Request&, Capture::Response&)
+bool ZividCamera::captureServiceHandler(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
   ROS_DEBUG_STREAM(__func__);
 
@@ -366,7 +366,7 @@ bool ZividCamera::captureAndSaveServiceHandler(CaptureAndSave::Request& req, Cap
   return true;
 }
 
-bool ZividCamera::capture2DServiceHandler(Capture2D::Request&, Capture2D::Response&)
+bool ZividCamera::capture2DServiceHandler(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
   ROS_DEBUG_STREAM(__func__);