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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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, Inc. 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 * $Id: table_objects.cpp 30899 2010-07-16 04:56:51Z rusu $ 00035 * 00036 */ 00037 00042 #include <ros/ros.h> 00043 #include <sensor_msgs/PointCloud2.h> 00044 #include <visualization_msgs/Marker.h> 00045 #include <pcl/point_types.h> 00046 00047 #include <table_objects/GetObjects.h> 00048 00049 ros::ServiceClient client; 00050 ros::Publisher pub; 00051 ros::Publisher pub_marker; 00052 00053 void callback (sensor_msgs::PointCloud2 cloud) 00054 { 00055 table_objects::GetObjects srv; 00056 srv.request.data = cloud; 00057 if (client.call(srv)) 00058 { 00059 //for (std::vector<mapping_msgs::CollisionObject>::iterator it = srv.response.table_objects.begin (); it != srv.response.table_objects.end (); it++) 00060 for (size_t i = 0; i < srv.response.table_objects.size (); i++) 00061 { 00062 mapping_msgs::CollisionObject obj = srv.response.table_objects[i]; 00063 //obj.header.stamp += ros::Duration (i * 0.001); // TODO is this hack of Radu's needed? 00064 pub.publish (obj); 00065 00066 // publishing marker for checking 00067 visualization_msgs::Marker marker; 00068 marker.header = obj.header; 00069 marker.ns = "CollisionObjects"; 00070 marker.id = i; 00071 marker.type = visualization_msgs::Marker::CUBE; 00072 marker.action = visualization_msgs::Marker::ADD; 00073 marker.pose.position = obj.poses[0].position; 00074 marker.pose.orientation = obj.poses[0].orientation; 00075 marker.scale.x = obj.shapes[0].dimensions[0]; 00076 marker.scale.y = obj.shapes[0].dimensions[1]; 00077 marker.scale.z = obj.shapes[0].dimensions[2]; 00078 marker.color.a = 0.5; 00079 marker.color.r = 0.5; 00080 marker.color.g = 0.5; 00081 marker.color.b = 0.5; 00082 pub_marker.publish (marker); 00083 } 00084 ROS_INFO("Published %zu objects", srv.response.table_objects.size ()); 00085 } 00086 else 00087 ROS_ERROR("Failed to call service!"); 00088 } 00089 00090 /* ---[ */ 00091 int 00092 main (int argc, char** argv) 00093 { 00094 ros::init (argc, argv, "test_table_objects"); 00095 00096 ros::NodeHandle nh; 00097 00098 client = nh.serviceClient<table_objects::GetObjects>("get_table_objects"); 00099 00100 pub = nh.advertise<mapping_msgs::CollisionObject> ("collison_objects", 50); 00101 pub_marker = nh.advertise<visualization_msgs::Marker> ("collison_object_markers", 50); 00102 00103 ros::Subscriber sub = nh.subscribe("/extract_objects_indices/output", 5, callback); 00104 00105 ros::spin (); 00106 00107 return (0); 00108 }