addCylinder.cpp
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00036 
00037 /* \author: E. Gil Jones */
00038 
00039 #include <ros/ros.h>
00040 
00041 #include <arm_navigation_msgs/CollisionObject.h>
00042 #include <arm_navigation_msgs/Shape.h>
00043 
00044 int main(int argc, char** argv) {
00045 
00046   ros::init(argc, argv, "addCylinder");
00047 
00048   ros::NodeHandle nh;
00049 
00050   ros::Publisher object_in_map_pub_;
00051   object_in_map_pub_  = nh.advertise<arm_navigation_msgs::CollisionObject>("collision_object", 10);
00052 
00053   sleep(2);
00054 
00055   //add the cylinder into the collision space
00056   arm_navigation_msgs::CollisionObject cylinder_object;
00057   cylinder_object.id = "pole";
00058   cylinder_object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ADD;
00059   cylinder_object.header.frame_id = "base_link";
00060   cylinder_object.header.stamp = ros::Time::now();
00061   arm_navigation_msgs::Shape object;
00062   object.type = arm_navigation_msgs::Shape::CYLINDER;
00063   object.dimensions.resize(2);
00064   object.dimensions[0] = .1;
00065   object.dimensions[1] = 1.5;
00066   geometry_msgs::Pose pose;
00067   pose.position.x = .6;
00068   pose.position.y = -.6;
00069   pose.position.z = .75;
00070   pose.orientation.x = 0;
00071   pose.orientation.y = 0;
00072   pose.orientation.z = 0;
00073   pose.orientation.w = 1;
00074   cylinder_object.shapes.push_back(object);
00075   cylinder_object.poses.push_back(pose);
00076 
00077   object_in_map_pub_.publish(cylinder_object);
00078 
00079   ROS_INFO("Should have published");
00080 
00081   ros::Duration(2.0).sleep();
00082 
00083   ros::shutdown();
00084 
00085 }


pr2_arm_navigation_tutorials
Author(s): Sachin Chitta
autogenerated on Sat Dec 28 2013 17:22:53