pole_structure_visualizer.cpp

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* Author: Gonçalo Cabrita on 05/03/2012
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#include <ros/ros.h>
#include <tf/tf.h>
#include <boost/foreach.hpp>
#include <visualization_msgs/Marker.h>
#include <pole_structure_mapper/PoleSectionStamped.h>
#include <pole_structure_mapper/PoleStructure.h>

#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>

ros::Publisher * marker_pub_;

void poleStructureCallback(const pole_structure_mapper::PoleStructure::ConstPtr& msg)
{
    //ROS_INFO("Got a structure msg!!!");

    pole_structure_mapper::PoleStructure pole_structure_ = *msg;
    
    for(int i=0 ; i<pole_structure_.pole.size() ; i++)
    {      
        char tag[16];
        sprintf(tag, "pole_%d", i);
        
        // Display the cylinder
        visualization_msgs::Marker marker;
        marker.header.frame_id = "map";
        marker.header.stamp = ros::Time::now();
        
        marker.ns = tag;
        marker.id = 0;
        
        marker.type = visualization_msgs::Marker::CYLINDER;
        
        marker.action = visualization_msgs::Marker::ADD;
        
        // For the marker the position is the middle point between the bottom and the top
        marker.pose.position.x = pole_structure_.pole[i].base.x + pole_structure_.pole[i].length/2.0 * pole_structure_.pole[i].axis.x;
        marker.pose.position.y = pole_structure_.pole[i].base.y + pole_structure_.pole[i].length/2.0 * pole_structure_.pole[i].axis.y;
        marker.pose.position.z = pole_structure_.pole[i].base.z + pole_structure_.pole[i].length/2.0 * pole_structure_.pole[i].axis.z;

        tf::Vector3 axis_vector(pole_structure_.pole[i].axis.x, pole_structure_.pole[i].axis.y, pole_structure_.pole[i].axis.z);
        tf::Vector3 up_vector(0.0, 0.0, 1.0);
        tf::Vector3 right_vector = axis_vector.cross(up_vector);
        right_vector.normalized();
        tf::Quaternion q(right_vector, -1.0*acos(axis_vector.dot(up_vector)));
        q.normalize();
        geometry_msgs::Quaternion cylinder_orientation;
        tf::quaternionTFToMsg(q, cylinder_orientation);

        marker.pose.orientation = cylinder_orientation;
        
        marker.scale.x = pole_structure_.pole[i].diameter;
        marker.scale.y = pole_structure_.pole[i].diameter;
        marker.scale.z = pole_structure_.pole[i].length;
        
        marker.color.r = 1.0f;
        marker.color.g = 0.0f;
        marker.color.b = 0.0f;
        marker.color.a = 0.8;
        
        marker.lifetime = ros::Duration();
        
        // Publish the marker
        marker_pub_->publish(marker);
    }
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "pole_structure_visualizer_node");
    
    ROS_INFO("Pole Structure Visualizer for ROS v0.1");
    
    // ROS stuff
        ros::NodeHandle n;
    
    ros::Subscriber sub = n.subscribe("pole_structure", 1, poleStructureCallback);
    ros::Publisher pub = n.advertise<visualization_msgs::Marker>("pole_structure_visualizer", 30);
    marker_pub_ = &pub;

    ros::spin();

}

// EOF