EnvironmentVisualization.h

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#include <ros/ros.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <string>
#include <set>
#include <utility>

#include <tf/transform_listener.h>

namespace Visualization {
  static const int ID_DOME = 10000;
  static const int ID_TABLE = 10001;

  class EnvironmentVisualization {
  private:
    ros::Publisher meshesPublisher;
                
  public:
    EnvironmentVisualization();
    ~EnvironmentVisualization();

    // Draws PbD Dome and Table
    void drawDome();
    void drawTable();
  };
}