void KinectClient::publishROS()
{
jderobot::pointCloudDataPtr point_cloud;
point_cloud = this->Proxy->getCloudData();
pcl::PointCloud<pcl::PointXYZRGBA> ros_cloud;
pcl::PointXYZRGBA point;
for(unsigned int i = 0; i < point_cloud->p.size(); ++i)
{
point.x = point_cloud->p[i].x;
point.y = point_cloud->p[i].y;
point.z = point_cloud->p[i].z;
point.r = point_cloud->p[i].r;
point.g = point_cloud->p[i].g;
point.b = point_cloud->p[i].b;
ros_cloud.push_back(point);
}
rosPublish(ros_cloud);
}
Ice::Int MotorsInterface::setW(Ice::Float w, const Ice::Current&)
{
RosIceMessage::MotorsSrv srv;
rosServiceCall(srv);
srv.response.motorMsg.motorW = -w;
rosPublish(srv.response.motorMsg);
}
void * foo2(void * package){
rosPublish(output_pub, (static_cast<TextInputBox*>(package))->getText());
return NULL;
}
//TODO fix this method derp!
void * foo2(void * package){
std_msgs::String outputText;
outputText.data = static_cast<TextInputBox*>(package)->getText();
rosPublish(output_pub, outputText);
return NULL;
}
