visualization.cpp File Reference

Visualization. More...

#include <vector>
#include <tf/tf.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Vector3Stamped.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

Include dependency graph for 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 More...
static void	landing_target_sub_cb (const geometry_msgs::PoseStamped::ConstPtr &target)
static void	local_position_sub_cb (const geometry_msgs::PoseStamped::ConstPtr &pose)
static void	lt_marker_sub_cb (const geometry_msgs::Vector3Stamped::ConstPtr &lt_marker)
int	main (int argc, char *argv[])
static void	publish_lt_marker (const geometry_msgs::PoseStamped::ConstPtr &target)
	publish landing target marker More...
static void	publish_track_marker (const geometry_msgs::PoseStamped::ConstPtr &pose)
	publish vehicle track More...
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
ros::Subscriber	landing_target_sub
ros::Subscriber	local_position_sub
ros::Publisher	lt_marker_pub
ros::Subscriber	lt_marker_sub
geometry_msgs::Vector3	lt_size
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

Detailed Description

Visualization.

Author

M.H.Kabir mhkab.nosp@m.ir98.nosp@m.@gmai.nosp@m.l.co.nosp@m.m

Definition in file 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 163 of file visualization.cpp.

static void landing_target_sub_cb ( const geometry_msgs::PoseStamped::ConstPtr &  target )

static

Definition at line 259 of file visualization.cpp.

static void local_position_sub_cb ( const geometry_msgs::PoseStamped::ConstPtr &  pose )

static

Definition at line 248 of file visualization.cpp.

static void lt_marker_sub_cb ( const geometry_msgs::Vector3Stamped::ConstPtr &  lt_marker )

static

Definition at line 264 of file visualization.cpp.

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

Definition at line 269 of file visualization.cpp.

static void publish_lt_marker ( const geometry_msgs::PoseStamped::ConstPtr &  target )

static

publish landing target marker

Definition at line 114 of file visualization.cpp.

static void publish_track_marker ( const geometry_msgs::PoseStamped::ConstPtr &  pose )

static

publish vehicle track

Definition at line 51 of file visualization.cpp.

static void publish_wp_marker ( const geometry_msgs::PoseStamped::ConstPtr &  wp )

static

Definition at line 83 of file visualization.cpp.

void setpoint_local_pos_sub_cb

(

const geometry_msgs::PoseStamped::ConstPtr &

wp

)

Definition at line 254 of file visualization.cpp.

Variable Documentation

std::string child_frame_id

static

Definition at line 28 of file visualization.cpp.

std::string fixed_frame_id

static

Definition at line 27 of file visualization.cpp.

ros::Subscriber landing_target_sub

Definition at line 34 of file visualization.cpp.

ros::Subscriber local_position_sub

Definition at line 33 of file visualization.cpp.

ros::Publisher lt_marker_pub

Definition at line 40 of file visualization.cpp.

ros::Subscriber lt_marker_sub

Definition at line 35 of file visualization.cpp.

geometry_msgs::Vector3 lt_size

Definition at line 44 of file visualization.cpp.

double marker_scale

static

Definition at line 29 of file visualization.cpp.

int max_track_size = 100

static

Definition at line 30 of file visualization.cpp.

ros::Publisher track_marker_pub

Definition at line 38 of file visualization.cpp.

boost::shared_ptr<visualization_msgs::MarkerArray> vehicle_marker

Definition at line 46 of file visualization.cpp.

ros::Publisher vehicle_marker_pub

Definition at line 39 of file visualization.cpp.

ros::Publisher wp_marker_pub

Definition at line 41 of file visualization.cpp.