#include "ros/ros.h"
#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <tf/transform_datatypes.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include "tools.h"
#include <iostream>
#include <tf/transform_listener.h>

Include dependency graph for handle.cpp:

Functions
int	main (int argc, char **argv)
void	pointCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	poseCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Variables
std::string	global_checkerboard_frame
std::string	global_torso_frame
ros::Publisher	grasp_pub
ros::Publisher	handle_pub
ros::Publisher	pc_pub
ros::Publisher	postgrasp_pub
ros::Publisher	pregrasp_pub
tf::TransformListener *	tflistener
ros::Publisher	vis_pub