00001
00002 import roslib; roslib.load_manifest('cob_3d_mapping_rviz_plugins')
00003 import rospy
00004 from cob_3d_mapping_msgs.msg import Shape
00005 from cob_3d_mapping_msgs.msg import ShapeArray
00006 def talker():
00007 pub = rospy.Publisher('shapes_array', ShapeArray)
00008 rospy.init_node('talker')
00009 while not rospy.is_shutdown():
00010 sa = ShapeArray()
00011 s = Shape()
00012 s.params = [0,0,0,0,1,1,1]
00013 s.header.frame_id="/map"
00014 s2 = Shape()
00015 s2.params = [0,0,0,0,3,1,1]
00016 s2.header.frame_id="/map"
00017 sa.shapes.append(s)
00018 sa.shapes.append(s2)
00019 pub.publish(sa)
00020 rospy.sleep(1.0)
00021 if __name__ == '__main__':
00022 try:
00023 talker()
00024 except rospy.ROSInterruptException: pass