goal_pose_publisher.cc

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#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>

#include <towr/terrain/height_map.h>
#include <xpp_states/convert.h>

#include <towr_ros/TowrCommand.h>  // listen to goal state
#include <towr_ros/topic_names.h>


namespace towr {

static ros::Publisher rviz_pub;

void UserCommandCallback(const towr_ros::TowrCommand& msg_in)
{
  // get which terrain
  auto terrain_id = static_cast<HeightMap::TerrainID>(msg_in.terrain);
  auto terrain_ = HeightMap::MakeTerrain(terrain_id);

  geometry_msgs::PoseStamped goal_msg;
  goal_msg.header.frame_id = "world";

  // visualize goal z state on terrain.
  double x = msg_in.goal_lin.pos.x;
  double y = msg_in.goal_lin.pos.y;
  goal_msg.pose.position.x = x;
  goal_msg.pose.position.y = y;
  goal_msg.pose.position.z = terrain_->GetHeight(x, y);

  // orientation according to message
  Eigen::Quaterniond q = xpp::GetQuaternionFromEulerZYX(msg_in.goal_ang.pos.z,
                                                        msg_in.goal_ang.pos.y,
                                                        msg_in.goal_ang.pos.x);
  goal_msg.pose.orientation = xpp::Convert::ToRos(q);
  rviz_pub.publish(goal_msg);
}

} // namespace towr

int main(int argc, char *argv[])
{
  ros::init(argc, argv, "goal_pose_publisher");

  ros::NodeHandle n;

  ros::Subscriber goal_sub;
  goal_sub       = n.subscribe(towr_msgs::user_command, 1, towr::UserCommandCallback);
  towr::rviz_pub = n.advertise<geometry_msgs::PoseStamped>("xpp/goal", 1);

  ros::spin();

  return 1;
}