addKurtanaPole.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 *********************************************************************/ 00036 00037 /* \author: E. Gil Jones */ 00038 00039 #include <ros/ros.h> 00040 00041 #include <mapping_msgs/CollisionObject.h> 00042 #include <geometric_shapes_msgs/Shape.h> 00043 00044 int main(int argc, char** argv) { 00045 00046 ros::init(argc, argv, "addKurtanaPole"); 00047 00048 ros::NodeHandle nh; 00049 00050 ros::Publisher object_in_map_pub_; 00051 object_in_map_pub_ = nh.advertise<mapping_msgs::CollisionObject>("collision_object", 10); 00052 00053 sleep(2); 00054 00055 //add the cylinder into the collision space 00056 mapping_msgs::CollisionObject cylinder_object; 00057 cylinder_object.id = "kurtana_pole"; 00058 cylinder_object.operation.operation = mapping_msgs::CollisionObjectOperation::ADD; 00059 cylinder_object.header.frame_id = "katana_internal_controlbox_link"; 00060 cylinder_object.header.stamp = ros::Time::now(); 00061 geometric_shapes_msgs::Shape object; 00062 object.type = geometric_shapes_msgs::Shape::CYLINDER; 00063 object.dimensions.resize(2); 00064 object.dimensions[0] = .05; 00065 object.dimensions[1] = 1.1; 00066 geometry_msgs::Pose pose; 00067 pose.position.x = -.19; 00068 pose.position.y = 0.0; 00069 pose.position.z = 0.55; 00070 pose.orientation.x = 0; 00071 pose.orientation.y = 0; 00072 pose.orientation.z = 0; 00073 pose.orientation.w = 1; 00074 cylinder_object.shapes.push_back(object); 00075 cylinder_object.poses.push_back(pose); 00076 00077 object_in_map_pub_.publish(cylinder_object); 00078 00079 ROS_INFO("Should have published"); 00080 00081 ros::Duration(2.0).sleep(); 00082 00083 ros::shutdown(); 00084 00085 }