test_table_objects.cpp

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/*
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 * $Id: table_objects.cpp 30899 2010-07-16 04:56:51Z rusu $
 *
 */

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#include <pcl/point_types.h>

#include <table_objects/GetObjects.h>

ros::ServiceClient client;
ros::Publisher pub;
ros::Publisher pub_marker;

void callback (sensor_msgs::PointCloud2 cloud)
{
  table_objects::GetObjects srv;
  srv.request.data = cloud;
  if (client.call(srv))
  {
    //for (std::vector<mapping_msgs::CollisionObject>::iterator it = srv.response.table_objects.begin (); it != srv.response.table_objects.end (); it++)
    for (size_t i = 0; i < srv.response.table_objects.size (); i++)
    {
      mapping_msgs::CollisionObject obj = srv.response.table_objects[i];
      //obj.header.stamp += ros::Duration (i * 0.001); // TODO is this hack of Radu's needed?
      pub.publish (obj);

      // publishing marker for checking
      visualization_msgs::Marker marker;
      marker.header = obj.header;
      marker.ns = "CollisionObjects";
      marker.id = i;
      marker.type = visualization_msgs::Marker::CUBE;
      marker.action = visualization_msgs::Marker::ADD;
      marker.pose.position = obj.poses[0].position;
      marker.pose.orientation = obj.poses[0].orientation;
      marker.scale.x = obj.shapes[0].dimensions[0];
      marker.scale.y = obj.shapes[0].dimensions[1];
      marker.scale.z = obj.shapes[0].dimensions[2];
      marker.color.a = 0.5;
      marker.color.r = 0.5;
      marker.color.g = 0.5;
      marker.color.b = 0.5;
      pub_marker.publish (marker);
    }
    ROS_INFO("Published %zu objects", srv.response.table_objects.size ());
  }
  else
    ROS_ERROR("Failed to call service!");
}

/* ---[ */
int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "test_table_objects");

  ros::NodeHandle nh;

  client = nh.serviceClient<table_objects::GetObjects>("get_table_objects");
  
  pub = nh.advertise<mapping_msgs::CollisionObject> ("collison_objects", 50);
  pub_marker = nh.advertise<visualization_msgs::Marker> ("collison_object_markers", 50);

  ros::Subscriber sub = nh.subscribe("/extract_objects_indices/output", 5, callback);

  ros::spin ();

  return (0);
}