visualize_collision_models.cpp

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#include <ros/ros.h>
#include <planning_environment/models/collision_models.h>

static const std::string vis_topic_name = "collision_model_collisions";

int main(int argc, char** argv)
{
  ros::init(argc, argv, "visualize_collision_models");
 
  ros::NodeHandle nh;
  
  std::string robot_description_name = nh.resolveName("robot_description", true);

  planning_environment::CollisionModels cmodel(robot_description_name);

  ros::Publisher vis_marker_publisher = nh.advertise<visualization_msgs::Marker>(vis_topic_name, 128);
  ros::Publisher vis_marker_array_publisher = nh.advertise<visualization_msgs::MarkerArray>(vis_topic_name+"_array", 128);

  planning_models::KinematicState state(cmodel.getKinematicModel());

  state.setKinematicStateToDefault();

  ros::Rate r(1.0);
  while(nh.ok()) {
    
    visualization_msgs::MarkerArray arr;
    std_msgs::ColorRGBA stat_color;
    stat_color.a = 0.5;
    stat_color.r = 0.1;
    stat_color.g = 0.8;
    stat_color.b = 0.3;

    cmodel.getRobotMarkersGivenState(state,
                                     arr,
                                     stat_color,
                                     "robot",
                                     ros::Duration(1.2));                                            
    vis_marker_array_publisher.publish(arr);
    ros::spinOnce();
    r.sleep();
  }

  ros::shutdown();
}