00001 00034 // Author: Isaac Saito 00035 00036 #ifndef _MARBLE_ROUTING_H 00037 #define _MARBLE_ROUTING_H 00038 00039 #include <marble/Route.h> 00040 #include <QMutex> 00041 #include <QtCore/QObject> 00042 00043 #include <ros/ros.h> 00044 #include <rqt_gui_cpp/plugin.h> 00045 #include <sensor_msgs/NavSatFix.h> 00046 00047 #include <rqt_marble/RouteGps.h> 00048 #include <ui_marble_plugin.h> 00049 00050 namespace rqt_marble 00051 { 00052 00061 class BridgeRosMarble : public rqt_gui_cpp::Plugin 00062 { 00063 Q_OBJECT 00064 00065 public: 00066 00067 BridgeRosMarble(); 00068 void getGpsCoord(); 00075 rqt_marble::RouteGps publishRouteInGps(Marble::Route route); 00076 void setDoNavigation(bool doNav); 00077 //void GpsCallback(const sensor_msgs::NavSatFixConstPtr& gpspt); 00078 00079 private: 00080 ros::NodeHandle _node; 00081 ros::Publisher _publisher; 00082 bool do_navigation; 00083 }; 00084 } // namespace 00085 #endif // _MARBLE_ROUTING_H