void MapMaintener::pauseMapCallback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
menu_handler.setVisible(h_start, true);
menu_handler.setVisible(h_pause, false);
menu_handler.setVisible(h_stop, true);
menu_handler.reApply( *server);
server->applyChanges();
mappingActive = false;
}
void modeCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
h_mode_last = feedback->menu_entry_id;
std::string namesss=feedback->control_name;
ROS_INFO("Name: %s", namesss.c_str());
ROS_INFO("last %i", h_mode_last);
menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );
menu_handler.reApply( *server );
server->applyChanges();
}
// Marker callback
void MapMaintener::update_tf(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
//InteractiveMarker int_marker;
//server->get("object_menu", int_marker);
if(mapPointCloud.features.cols() == 0)
{
nav_msgs::Odometry odom;
odom.pose.pose = feedback->pose;
publishLock.lock();
TObjectToMap = PointMatcher_ros::odomMsgToEigenMatrix<float>(odom);
publishLock.unlock();
//int_marker.description = "Move to the zone of interest";
menu_handler.reApply( *server);
server->applyChanges();
}
else
{
//int_marker.description = "Reset the map to apply change";
menu_handler.reApply( *server);
server->applyChanges();
}
}