/**
* CallBack creating markers based on received toaster_msgs and adding then to robot_list
* Robots can be representated by a single unarticulated mesh or by mutiple meshs for an articulated model
* @param msg reference to receive toaster_msgs::RobotList
* @return void
*/
void chatterCallbackRobotList(const toaster_msgs::RobotList::ConstPtr& msg) {
robot_list.markers.clear();
for (int i = 0; i < msg->robotList.size(); i++) {
//non articulated robot
visualization_msgs::Marker m = defineRobot(msg->robotList[i].meAgent.meEntity.positionX, msg->robotList[i].meAgent.meEntity.positionY, msg->robotList[i].meAgent.meEntity.positionZ, msg->robotList[i].meAgent.meEntity.orientationRoll, msg->robotList[i].meAgent.meEntity.orientationPitch, msg->robotList[i].meAgent.meEntity.orientationYaw,
1.0, msg->robotList[i].meAgent.meEntity.name);
visualization_msgs::Marker mn = defineName(m);
mn = setPosition(mn, mn.pose.position.x, mn.pose.position.y, 3);
mn = setSize(mn, 0, 0, 0.5);
mn = setColor(mn, 1.0, 1.0, 1.0);
robot_list.markers.push_back(mn);
robot_list.markers.push_back(m);
ROS_DEBUG("robot %d", m.id);
}
}
Robot::Robot(int t){
setType(t);
action = new Action();
defineRobot();
}
