52 lines
No EOL
1.1 KiB
C++
52 lines
No EOL
1.1 KiB
C++
/*
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* Rviz interface to send objective.
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* Composed of 3D marker and a configuration panel.
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* @author : antoine.harle@etu.upmc.Fr
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* @see : InteractiveObject.cpp/.hpp, InterfacePanel.cpp/.hpp
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*/
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#ifndef RVIZINTERFACE_HPP
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#define RVIZINTERFACE_HPP
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#include <ros/ros.h>
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#include <interactive_markers/interactive_marker_server.h>
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#include <tf/tf.h>
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#include "InteractiveObject.hpp"
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#include <rviz_interface/InterfaceConfig.h>
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#include <rviz_interface/NamedPoint.h>
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class RvizInterface
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{
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protected:
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ros::NodeHandle _n;
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//Publisher ROS
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ros::Publisher _objective_pub;
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ros::Publisher _visualization_pub;
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//Subscriber ROS
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ros::Subscriber _config_sub;
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ros::Subscriber _position_sub;
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//Serveur de marker interactif
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interactive_markers::InteractiveMarkerServer _server;
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//Objets de l'interface
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std::vector<InteractiveObject*> _objects;
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public:
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RvizInterface();
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~RvizInterface();
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//Fonction Callback du panel Rviz gérant les configurations
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void configCallback(const rviz_interface::InterfaceConfig & new_config);
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//Fonction callback gérant la position des objets
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void positionCallback(const rviz_interface::NamedPoint & new_center);
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};
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#endif |