C++ (Cpp) Visualizer::setTFListener Exemples

Exemple #1

Fichier : visualization.cpp Projet : iirob/wire

int main(int argc, char **argv) {
	ros::init(argc, argv, "wire_viz");
	ros::NodeHandle n("~");

	// Set parameters for visualizers
	if (!world_evidence_visualizer_.setParameters(n, "world_evidence")) {
		return 0;
	}
	if (!world_state_visualizer_.setParameters(n, "world_state")) {
		return 0;
	}

	// Set tf listeners
	tf::TransformListener tf_listener;
	world_evidence_visualizer_.setTFListener(&tf_listener);
	world_state_visualizer_.setTFListener(&tf_listener);

	// Get marker frame from parameter server
	if (!getMarkerFrame(n)) marker_frame_ = DEFAULT_MARKER_FRAME;

	// Subscribe to world evidence and world state topics
	ros::Subscriber sub_world_ev = n.subscribe("/world_evidence", 10, &worldEvidenceCallback);
	ros::Subscriber sub_world_st = n.subscribe("/world_state", 10, &worldStateCallback);

	// Advertise to marker topics
	world_evidence_marker_pub_ = n.advertise<visualization_msgs::MarkerArray>("/visualization_markers/world_evidence", 10);
	world_state_marker_pub_ = n.advertise<visualization_msgs::MarkerArray>("/visualization_markers/world_state", 10);

	ros::spin();
	return 0;
}