2 #include <visualization_msgs/MarkerArray.h> 21 visualization_msgs::Marker marker;
23 marker.header.frame_id =
"/base_link";
24 marker.type = visualization_msgs::Marker::LINE_LIST;
25 marker.action = visualization_msgs::Marker::ADD;
28 marker.scale.x = 0.02;
29 marker.ns =
"wheel_footprint";
30 marker.action = visualization_msgs::Marker::ADD;
31 marker.pose.orientation.w = 1.0;
33 std::vector<geometry_msgs::Point> point_vector;
35 geometry_msgs::Point tmp;
39 point_vector.push_back(tmp);
41 point_vector.push_back(tmp);
45 point_vector.push_back(tmp);
47 point_vector.push_back(tmp);
51 point_vector.push_back(tmp);
53 point_vector.push_back(tmp);
57 point_vector.push_back(tmp);
59 point_vector.push_back(tmp);
62 marker.points = point_vector;
93 int main (
int argc,
char** argv)
95 ros::init(argc,argv,
"hector_driving_aid_marker_node");
double p_right_side_y_outer_
void pubTimerCallback(const ros::TimerEvent &event)
void publish(const boost::shared_ptr< M > &message) const
ros::Publisher marker_pub_
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
double p_left_side_y_inner_
int main(int argc, char **argv)
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
Timer createTimer(Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
uint32_t getNumSubscribers() const
visualization_msgs::MarkerArray marker_array_
double p_right_side_y_inner_
double p_left_side_y_outer_