void BoundingBox::bboxCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
if (feedback->control_name != BOUNDING_BOX_CONTROL_NAME)
{
/*if ((feedback->event_type == InteractiveMarkerFeedback::MOUSE_UP))
{
InteractiveMarker o;
if (server->get(name, o))
{
pose = o.pose;
object.pose = pose;
}
ROS_INFO("New position:");
cout << feedback->pose.position << endl;
ROS_INFO("New orientation:");
cout << feedback->pose.orientation << endl;
// Interaction with object from Interactive Marker Server
InteractiveMarker obj;
if (server->get(attachedObjectName, obj))
{
server->erase(attachedObjectName);
obj.pose = feedback->pose;
server->insert(obj);
}
server->insert(object);
menu_handler.reApply(*server);
server->applyChanges();
}*/
defaultCallback(feedback);
}
}
void UnknownObject::uboxCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
defaultCallback(feedback);
if (show_scale_control_)
{
updateScaleControls();
server_->applyChanges();
}
}
void Object::objectCallback(const InteractiveMarkerFeedbackConstPtr &feedback)
{
if (move_arm_to_pregrasp_onclick_ && feedback->event_type == InteractiveMarkerFeedback::MOUSE_DOWN)
{
if (feedback->control_name == pregrasp1_.name)
updatePublisher_->publishMoveArmToPreGrasp(1);
else if (feedback->control_name == pregrasp2_.name)
updatePublisher_->publishMoveArmToPreGrasp(2);
else if (feedback->control_name == pregrasp3_.name)
updatePublisher_->publishMoveArmToPreGrasp(3);
else if (feedback->control_name == pregrasp4_.name)
updatePublisher_->publishMoveArmToPreGrasp(4);
else if (feedback->control_name == pregrasp5_.name)
updatePublisher_->publishMoveArmToPreGrasp(5);
else if (feedback->control_name == pregrasp6_.name)
updatePublisher_->publishMoveArmToPreGrasp(6);
}
defaultCallback(feedback);
}
