00001 #ifndef __MarkerPublisher__ 00002 #define __MarkerPublisher__ 00003 00004 #include <ros/ros.h> 00005 00006 #include <LinearMath/btVector3.h> 00007 #include <LinearMath/btQuaternion.h> 00008 00009 #include <visualization_msgs/Marker.h> 00010 00011 #include "aruco/aruco.h" 00012 00013 class MarkerPublisher 00014 { 00015 private: ros::Publisher visualizationPublisher; 00016 private: double markerSize; 00017 00018 public: MarkerPublisher(ros::NodeHandle nodeHandle, double markerSize) 00019 { 00020 this->visualizationPublisher = nodeHandle.advertise<visualization_msgs::Marker>("/visualization_marker", 10); 00021 this->markerSize = markerSize; 00022 } 00023 00024 public: void publishMarker(std_msgs::Header imageHeader, aruco::Marker marker, btVector3 position, btQuaternion orientation); 00025 }; 00026 00027 #endif