00001 #ifndef _MARKER_UTILS_H_ 00002 #define _MARKER_UTILS_H_ 00003 00004 00005 #include <ros/ros.h> 00006 00007 #include <tf/tf.h> 00008 #include <tf/transform_listener.h> 00009 #include <tf/transform_broadcaster.h> 00010 00011 #include <interactive_markers/interactive_marker_server.h> 00012 00013 #include <interactive_markers/menu_handler.h> 00014 #include <jsk_interactive_marker/SetPose.h> 00015 #include <jsk_interactive_marker/MarkerSetPose.h> 00016 00017 #include <math.h> 00018 #include <jsk_interactive_marker/MarkerMenu.h> 00019 #include <jsk_interactive_marker/MarkerPose.h> 00020 00021 #include <std_msgs/Int8.h> 00022 00023 visualization_msgs::InteractiveMarker makeFingerControlMarker(const char *name, geometry_msgs::PoseStamped ps); 00024 visualization_msgs::InteractiveMarker makeSandiaHandMarker(geometry_msgs::PoseStamped ps); 00025 00026 visualization_msgs::Marker makeSandiaFinger0Marker(std::string frame_id); 00027 visualization_msgs::Marker makeSandiaFinger1Marker(std::string frame_id); 00028 visualization_msgs::Marker makeSandiaFinger2Marker(std::string frame_id); 00029 00030 visualization_msgs::InteractiveMarker makeSandiaHandInteractiveMarker(geometry_msgs::PoseStamped ps, std::string hand, int finger, int link); 00031 00032 std::string getRosPathFromModelPath(std::string path); 00033 std::string getRosPathFromFullPath(std::string path); 00034 std::string getFullPathFromModelPath(std::string path); 00035 std::string getFilePathFromRosPath( std::string rospath); 00036 00037 geometry_msgs::Pose getPose( XmlRpc::XmlRpcValue val); 00038 double getXmlValue( XmlRpc::XmlRpcValue val ); 00039 00040 #endif