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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include <ros/ros.h> 00038 #include <planning_environment/models/collision_models.h> 00039 00040 static const std::string vis_topic_name = "collision_model_collisions"; 00041 00042 int main(int argc, char** argv) 00043 { 00044 ros::init(argc, argv, "visualize_collision_models"); 00045 00046 ros::NodeHandle nh; 00047 00048 std::string robot_description_name = nh.resolveName("robot_description", true); 00049 00050 planning_environment::CollisionModels cmodel(robot_description_name); 00051 00052 ros::Publisher vis_marker_publisher = nh.advertise<visualization_msgs::Marker>(vis_topic_name, 128); 00053 ros::Publisher vis_marker_array_publisher = nh.advertise<visualization_msgs::MarkerArray>(vis_topic_name+"_array", 128); 00054 00055 planning_models::KinematicState state(cmodel.getKinematicModel()); 00056 00057 state.setKinematicStateToDefault(); 00058 00059 ros::Rate r(1.0); 00060 while(nh.ok()) { 00061 00062 visualization_msgs::MarkerArray arr; 00063 std_msgs::ColorRGBA stat_color; 00064 stat_color.a = 0.5; 00065 stat_color.r = 0.1; 00066 stat_color.g = 0.8; 00067 stat_color.b = 0.3; 00068 00069 cmodel.getRobotMarkersGivenState(state, 00070 arr, 00071 stat_color, 00072 "robot", 00073 ros::Duration(1.2)); 00074 vis_marker_array_publisher.publish(arr); 00075 ros::spinOnce(); 00076 r.sleep(); 00077 } 00078 00079 ros::shutdown(); 00080 } 00081 00082 00083 00084