detector_stub.cpp

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* Author: Wim Meeussen
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#include <ros/ros.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <kdl/frames.hpp>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "detector_stub");
  double x, y, z, Rx, Ry, Rz;
  std::string frame_id;
  ros::NodeHandle node("~");
  node.param("x", x, 0.0);
  node.param("y", y, 0.0);
  node.param("z", z, 0.0);
  node.param("Rx", Rx, 0.0);
  node.param("Ry", Ry, 0.0);
  node.param("Rz", Rz, 0.0);
  node.param("frame_id", frame_id, std::string("frame_id_not_specified"));

  ros::NodeHandle node_top;
  ros::Publisher pub_pose = node_top.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose", 10);
  geometry_msgs::PoseWithCovarianceStamped pose;
  pose.header.frame_id = frame_id;
  pose.pose.pose.position.x = x;
  pose.pose.pose.position.y = y;
  pose.pose.pose.position.z = z;
  KDL::Rotation tmp = KDL::Rotation::RPY(Rx, Ry, Rz);
  double Qx, Qy, Qz, Qw;
  tmp.GetQuaternion(Qx, Qy, Qz, Qw);
  pose.pose.pose.orientation.x = Qx;
  pose.pose.pose.orientation.y = Qy;
  pose.pose.pose.orientation.z = Qz;
  pose.pose.pose.orientation.w = Qw;

  double cov[36] =  {0.0001, 0, 0, 0, 0, 0,
                     0, 0.0001, 0, 0, 0, 0,
                     0, 0, 0.0001, 0, 0, 0,
                     0, 0, 0, 0.0001, 0, 0,
                     0, 0, 0, 0, 0.0001, 0,
                     0, 0, 0, 0, 0, 0.0001};
  for (unsigned int i=0; i<36; i++)
    pose.pose.covariance[i] = cov[i];

  while (ros::ok()){
    pose.header.stamp = ros::Time::now();
    pub_pose.publish(pose);
    ros::Duration(0.4).sleep();
  }
  return 0;
}