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This commit is contained in:
Unknown 2018-07-02 11:09:50 +02:00
parent e9ee595fb5
commit cbb0d72367
4 changed files with 78 additions and 46 deletions
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10
rviz_interface/rviz_interface/src/RvizInterface.hpp
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@ -14,20 +14,30 @@ class RvizInterface
{
protected:
ros::NodeHandle _n;
//Publisher ROS
ros::Publisher _objective_pub;
ros::Publisher _visualization_pub;
//Subscriber ROS
ros::Subscriber _config_sub;
ros::Subscriber _position_sub;
//Serveur de marker interactif
interactive_markers::InteractiveMarkerServer _server;
//Objets de l'interface
std::vector<InteractiveObject*> _objects;
public:
RvizInterface();
~RvizInterface();
//Fonction Callback du panel Rviz gérant les configurations
void configCallback(const rviz_interface::InterfaceConfig & new_config);
//Fonction callback gérant la position de l'objet
//PROVISOIRE : Pour un seul objet avec test PCL
void positionCallback(const geometry_msgs::PointStamped & new_center);
};