33 #include <nav_msgs/GetMap.h> 38 #include <boost/date_time/posix_time/posix_time.hpp> 39 #include <boost/date_time/gregorian/formatters.hpp> 41 #include <boost/tokenizer.hpp> 43 #include <hector_worldmodel_msgs/GetObjectModel.h> 55 virtual void initialize(
const std::string& name);
83 std::string service_name_;
85 plugin_nh.
param(
"service_name", service_name_, std::string(
"worldmodel/get_object_model"));
105 hector_worldmodel_msgs::GetObjectModel data;
112 for(hector_worldmodel_msgs::ObjectModel::_objects_type::const_iterator it = data.response.model.objects.begin(); it != data.response.model.objects.end(); ++it) {
113 const hector_worldmodel_msgs::Object&
object = *it;
115 Eigen::Vector2f coords;
116 coords.x() =
object.pose.pose.position.x;
117 coords.y() =
object.pose.pose.position.y;
118 interface->
drawObjectOfInterest(coords, boost::lexical_cast<std::string>(++counter), MapWriterInterface::Color(180,0,200));
ServiceClient serviceClient(const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())
#define ROS_INFO_NAMED(name,...)
ROSCONSOLE_DECL void initialize()
void draw(MapWriterInterface *interface)
bool call(MReq &req, MRes &res)
virtual void initialize(const std::string &name)
SemanticMapWriterPlugin()
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
virtual void drawObjectOfInterest(const Eigen::Vector2f &coords, const std::string &txt, const Color &color)=0
ros::ServiceClient service_client_no_
#define ROS_ERROR_NAMED(name,...)
ros::ServiceClient service_client_
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
virtual ~SemanticMapWriterPlugin()