rviz_marker_node.cc
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1 /******************************************************************************
2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
3 
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29 
30 #include <ros/ros.h>
31 
32 #include <xpp_msgs/topic_names.h>
33 #include <xpp_msgs/TerrainInfo.h>
34 
35 #include <xpp_states/convert.h>
37 
38 
41 
42 static void StateCallback (const xpp_msgs::RobotStateCartesian& state_msg)
43 {
44  auto rviz_marker_msg = robot_builder.BuildRobotState(state_msg);
45  rviz_marker_pub.publish(rviz_marker_msg);
46 }
47 
48 static void TerrainInfoCallback (const xpp_msgs::TerrainInfo& terrain_msg)
49 {
50  robot_builder.SetTerrainParameters(terrain_msg);
51 }
52 
53 static void ParamsCallback (const xpp_msgs::RobotParameters& params_msg)
54 {
55  robot_builder.SetRobotParameters(params_msg);
56 }
57 
58 int main(int argc, char *argv[])
59 {
60  using namespace ros;
61 
62  init(argc, argv, "rviz_marker_visualizer");
63 
64  NodeHandle n;
65 
66  Subscriber parameters_sub;
67  parameters_sub = n.subscribe(xpp_msgs::robot_parameters, 1, ParamsCallback);
68 
69  Subscriber state_sub_curr, state_sub_des, terrain_info_sub;
71  terrain_info_sub = n.subscribe(xpp_msgs::terrain_info, 1, TerrainInfoCallback);
72 
73  rviz_marker_pub = n.advertise<visualization_msgs::MarkerArray>("xpp/rviz_markers", 1);
74 
75  spin();
76 
77  return 1;
78 }
static const std::string robot_state_desired("/xpp/state_des")
int main(int argc, char *argv[])
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
void SetTerrainParameters(const xpp_msgs::TerrainInfo &msg)
Additional information that can be used for visualization.
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
MarkerArray BuildRobotState(const xpp_msgs::RobotStateCartesian &msg) const
Constructs the RVIZ markers from the ROS message.
void SetRobotParameters(const xpp_msgs::RobotParameters &msg)
Provides additional robot info that can be used for visualization.
static void ParamsCallback(const xpp_msgs::RobotParameters &params_msg)
void publish(const boost::shared_ptr< M > &message) const
static xpp::RvizRobotBuilder robot_builder
static void StateCallback(const xpp_msgs::RobotStateCartesian &state_msg)
static void TerrainInfoCallback(const xpp_msgs::TerrainInfo &terrain_msg)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ROSCPP_DECL void spin()
static ros::Publisher rviz_marker_pub
static const std::string terrain_info("/xpp/terrain_info")
Constructs RVIZ markers that visualize a Cartesian robot state.
static const std::string robot_parameters("/xpp/params")


xpp_vis
Author(s): Alexander W. Winkler
autogenerated on Tue Mar 1 2022 00:07:16