wviz_scene_manager: wviz_scene_manager: wviz_scene

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00036 #ifndef SCENE_MANAGER_H_
00037 #define SCENE_MANAGER_H_
00038 
00039 #include <map>
00040 #include <ros/ros.h>
00041 #include <boost/thread/mutex.hpp>
00042 #include <visualization_msgs/Marker.h>
00043 #include <wviz_scene_manager/AddMarker.h>
00044 #include <wviz_scene_manager/RemoveMarker.h>
00045 
00046 namespace wviz_scene_manager {
00047 
00052 class Scene {
00053 public:
00054   Scene();
00055   std::map<std::string,visualization_msgs::Marker> visualization_markers_;
00056   boost::mutex mutex_;
00057   bool is_dirty_;
00058 };
00059 
00064 class SceneManager {
00065 public:
00070   SceneManager(ros::NodeHandle& node);
00071 
00075   virtual ~SceneManager();
00076 
00080   void visualizationMarkerCallback(const visualization_msgs::MarkerConstPtr& marker);
00081 
00085   bool addMarker(wviz_scene_manager::AddMarker::Request& req, wviz_scene_manager::AddMarker::Response& resp);
00086 
00090   bool removeMarker(wviz_scene_manager::RemoveMarker::Request& req, wviz_scene_manager::RemoveMarker::Response& resp);
00091 
00095   std::string getMarkerStringID(const visualization_msgs::Marker& marker);
00096 
00100   void spin();
00101 private:
00102   ros::NodeHandle node_;
00103   std::map<std::string,ros::Subscriber> visualization_marker_subscribers_;
00104   ros::Publisher scene_pub_;
00105   ros::ServiceServer add_marker_srv_;
00106   ros::ServiceServer remove_marker_srv_;
00107   Scene scene_;
00108 };
00109 
00110 }
00111 
00112 #endif
00113
wviz_scene_manager.h
