imarker_simple.h

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/* Author: Dave Coleman
   Desc:   Use interactive markers in a C++ class
*/
 
#pragma once
 
// ROS
#include <ros/ros.h>
 
#include <geometry_msgs/PoseStamped.h>
 
#include <interactive_markers/interactive_marker_server.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <interactive_markers/menu_handler.h>
#include <Eigen/Geometry>
 
// C++
#include <string>
 
namespace rviz_visual_tools
{
using visualization_msgs::InteractiveMarkerControl;
using visualization_msgs::InteractiveMarkerFeedback;
 
typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> IMarkerCallback;
 
namespace
{
geometry_msgs::Pose getIdentityPose()
{
  geometry_msgs::Pose pose;
  pose.orientation.w = 1.0;
  return pose;
}
}  // namespace
 
class IMarkerSimple
{
public:
  explicit IMarkerSimple(const std::string& name = "imarker", double scale = 0.2,
                         const geometry_msgs::Pose& initial_pose = getIdentityPose(),
                         const std::string& parent_frame = "world");
 
  geometry_msgs::Pose& getPose();
 
  void setPose(const Eigen::Isometry3d& pose);
 
  void setPose(const geometry_msgs::Pose& pose);
 
  void iMarkerCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
 
  void setIMarkerCallback(IMarkerCallback callback)
  {
    imarker_callback_ = callback;
  }
 
private:
  void sendUpdatedIMarkerPose();
 
  void make6DofMarker(const geometry_msgs::Pose& pose = getIdentityPose(), double scale = 0.2,
                      const std::string& parent_frame = "world");
 
  // --------------------------------------------------------
 
  // The short name of this class
  std::string name_ = "imarker_simple";
 
  // A shared node handle
  ros::NodeHandle nh_;
 
  geometry_msgs::Pose latest_pose_;
 
  // Interactive markers
  std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;
 
  // Interactive markers
  // interactive_markers::MenuHandler menu_handler_;
  visualization_msgs::InteractiveMarker int_marker_;
 
  // Hook to parent class
  IMarkerCallback imarker_callback_;
};  // end class
 
// Create std pointers for this class
typedef std::shared_ptr<IMarkerSimple> IMarkerSimplePtr;
typedef std::shared_ptr<const IMarkerSimple> IMarkerSimpleConstPtr;
 
}  // namespace rviz_visual_tools