copter_visualization.cpp File Reference

Copter visualization. More...

#include <vector>
#include <tf/tf.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <geometry_msgs/PoseStamped.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

Include dependency graph for copter_visualization.cpp:

Go to the source code of this file.

Functions
static void	create_vehicle_markers (int num_rotors, float arm_len, float body_width, float body_height)
	publish vehicle
static void	local_position_sub_cb (const geometry_msgs::PoseStamped::ConstPtr &pose)
int	main (int argc, char *argv[])
static void	publish_track_marker (const geometry_msgs::PoseStamped::ConstPtr &pose)
	publish vehicle track
static void	publish_wp_marker (const geometry_msgs::PoseStamped::ConstPtr &wp)
void	setpoint_local_pos_sub_cb (const geometry_msgs::PoseStamped::ConstPtr &wp)
Variables
static std::string	child_frame_id
static std::string	fixed_frame_id
static double	marker_scale
static int	max_track_size = 100
ros::Publisher	track_marker_pub
boost::shared_ptr < visualization_msgs::MarkerArray >	vehicle_marker
ros::Publisher	vehicle_marker_pub
ros::Publisher	wp_marker_pub

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Detailed Description

Copter visualization.

Author:

M.H.Kabir <mhkabir98@gmail.com>

Definition in file copter_visualization.cpp.

---

Function Documentation

static void create_vehicle_markers	(	int	num_rotors,
		float	arm_len,
		float	body_width,
		float	body_height
	)		[static]

publish vehicle

Create markers only once for efficiency TODO use visualization_msgs::MarkerArray?

Hexacopter marker code adapted from libsfly_viz thanks to Markus Achtelik.

Definition at line 104 of file copter_visualization.cpp.

static void local_position_sub_cb

(

const geometry_msgs::PoseStamped::ConstPtr &

pose

)

[static]

Definition at line 189 of file copter_visualization.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 200 of file copter_visualization.cpp.

static void publish_track_marker

(

const geometry_msgs::PoseStamped::ConstPtr &

pose

)

[static]

publish vehicle track

Definition at line 41 of file copter_visualization.cpp.

static void publish_wp_marker

(

const geometry_msgs::PoseStamped::ConstPtr &

wp

)

[static]

Definition at line 73 of file copter_visualization.cpp.

void setpoint_local_pos_sub_cb

(

const geometry_msgs::PoseStamped::ConstPtr &

wp

)

Definition at line 195 of file copter_visualization.cpp.

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Variable Documentation

std::string child_frame_id [static]

Definition at line 27 of file copter_visualization.cpp.

std::string fixed_frame_id [static]

Definition at line 26 of file copter_visualization.cpp.

double marker_scale [static]

Definition at line 28 of file copter_visualization.cpp.

int max_track_size = 100 [static]

Definition at line 29 of file copter_visualization.cpp.

ros::Publisher track_marker_pub

Definition at line 32 of file copter_visualization.cpp.

boost::shared_ptr<visualization_msgs::MarkerArray> vehicle_marker

Definition at line 36 of file copter_visualization.cpp.

ros::Publisher vehicle_marker_pub

Definition at line 33 of file copter_visualization.cpp.

ros::Publisher wp_marker_pub

Definition at line 34 of file copter_visualization.cpp.