wviz_scene_manager.h

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#ifndef SCENE_MANAGER_H_
#define SCENE_MANAGER_H_

#include <map>
#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <visualization_msgs/Marker.h>
#include <wviz_scene_manager/AddMarker.h>
#include <wviz_scene_manager/RemoveMarker.h>

namespace wviz_scene_manager {

class Scene {
public:
  Scene();
  std::map<std::string,visualization_msgs::Marker> visualization_markers_;
  boost::mutex mutex_;
  bool is_dirty_;
};

class SceneManager {
public:
  SceneManager(ros::NodeHandle& node);

  virtual ~SceneManager();

  void visualizationMarkerCallback(const visualization_msgs::MarkerConstPtr& marker);

  bool addMarker(wviz_scene_manager::AddMarker::Request& req, wviz_scene_manager::AddMarker::Response& resp);

  bool removeMarker(wviz_scene_manager::RemoveMarker::Request& req, wviz_scene_manager::RemoveMarker::Response& resp);

  std::string getMarkerStringID(const visualization_msgs::Marker& marker);

  void spin();
private:
  ros::NodeHandle node_;
  std::map<std::string,ros::Subscriber> visualization_marker_subscribers_;
  ros::Publisher scene_pub_;
  ros::ServiceServer add_marker_srv_;
  ros::ServiceServer remove_marker_srv_;
  Scene scene_;
};

}

#endif