bool getBoundingBox(GetBoundingBox::Request &req, GetBoundingBox::Response &res) { ROS_INFO("GETTING BOUNDING BOX"); if (primitives.count(req.name) > 0) { BoundingBox *obj = (BoundingBox*)primitives.at(req.name); if (obj->getPrimitiveType() == srs_interaction_primitives::PrimitiveType::BOUNDING_BOX) { res.name = req.name; res.frame_id = obj->getFrameID(); res.pose_type = obj->getPoseType(); res.pose = obj->getPose(); res.description = obj->getDescription(); res.color = obj->getColor(); res.scale = obj->getScale(); res.object_name = obj->getAttachedObjectName(); return true; } } ROS_ERROR("Bounding box with that name doesn't exist!"); return false; }