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#ifndef _atlascar_transforms_CPP_
#define _atlascar_transforms_CPP_

#include <boost/algorithm/string.hpp>
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <ros/package.h>
#include <libxml/encoding.h>
#include <libxml/xmlwriter.h>
#include <libxml/tree.h>
#include <libxml/parser.h>
#include <libxml/xpath.h>
#include <libxml/xpathInternals.h>
#include <libxml/xmlreader.h>


#define PFLN {printf("FILE %s LINE %d\n",__FILE__, __LINE__);}

using namespace ros;
using namespace std;
using namespace boost;
using namespace visualization_msgs;

tf::TransformListener *p_listener;
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
float marker_pos = 0;

typedef struct
{
        double x,y,z;
        std::string name;
}t_reference_frame;

std::vector<boost::shared_ptr <t_reference_frame> > v_rf;

int get_i_from_name(std::vector<boost::shared_ptr <t_reference_frame> >* v_rf, std::string name)
{
        int ret=-1; 
        for (size_t i=0; i<v_rf->size(); ++i)
        {
                if (name == (*v_rf)[i]->name)
                {
                        ret=i;
                        break;
                }       
        }

        return ret;
}

Marker makeBox( InteractiveMarker &msg )
{
        Marker marker;

        marker.type = Marker::SPHERE;
        marker.scale.x = msg.scale * 0.05;
        marker.scale.y = msg.scale * 0.05;
        marker.scale.z = msg.scale * 0.05;
        marker.color.r = 0;
        marker.color.g = 0.7;
        marker.color.b = 0;
        marker.color.a = 0.0;

        return marker;
}
void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        switch ( feedback->event_type )
        {
                case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
                        printf("you are moving marker %s\n",feedback->marker_name.c_str());


                        int ret = get_i_from_name(&v_rf, feedback->marker_name);

                        printf("ret=%d\n",ret);

                        v_rf[ret]->x = feedback->pose.position.x;
                        v_rf[ret]->y = feedback->pose.position.y;
                        v_rf[ret]->z = feedback->pose.position.z;
                        break;
        }

        server->applyChanges();
}

InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
        InteractiveMarkerControl control;
        control.always_visible = true;
        control.markers.push_back( makeBox(msg) );
        msg.controls.push_back( control );
        return msg.controls.back();
}

void set_label_pos(double x, double y, double z, visualization_msgs::Marker* msg, std::vector<visualization_msgs::Marker>* marker_vec)
{
        //tf::StampedTransform transform;
        //try
        //{
                //p_listener->lookupTransform("/atc/vehicle/ground", msg->header.frame_id, ros::Time(0), transform);
        //}
        //catch (tf::TransformException ex)
        //{
                //ROS_ERROR("%s",ex.what());
        //}


        //pcl::PointCloud<pcl::PointXYZ> global;
        //pcl::PointXYZ p;
        //p.x = x; p.y=y; p.z=z;
        //global.push_back(p);

        //pcl::PointCloud<pcl::PointXYZ> local;
        //pcl_ros::transformPointCloud(global,local,transform.inverse());

        geometry_msgs::Point pt;
        visualization_msgs::Marker lmsg; //declare the msg 
        lmsg.pose.orientation.w = 1.0;
        lmsg.header.stamp = ros::Time::now();
        lmsg.id = 0;
        lmsg.scale.x = 0.02; lmsg.scale.y = 1; lmsg.scale.z = 0.095; 
        lmsg.color.r = 0.0; lmsg.color.g = 0; lmsg.color.b = 0.0; lmsg.color.a = 0.4;
        lmsg.pose.position.x = 0; lmsg.pose.position.y = 0; lmsg.pose.position.z = 0; 
        lmsg.action = visualization_msgs::Marker::ADD;
        lmsg.type = visualization_msgs::Marker::LINE_STRIP;

        lmsg.header.frame_id = msg->header.frame_id;
        lmsg.ns = "CNT " + msg->header.frame_id;

        pt.x=0; pt.y=0; pt.z=0; 
        lmsg.points.push_back(pt);
        //pt.x=local.points[0].x; pt.y=local.points[0].y; pt.z=local.points[0].z;
        pt.x=x; pt.y=y; pt.z=z;
        lmsg.points.push_back(pt);
        marker_vec->push_back(lmsg);


        //msg->pose.position.x = local.points[0].x; msg->pose.position.y = local.points[0].y; msg->pose.position.z = local.points[0].z; 
        msg->pose.position.x = x; msg->pose.position.y = y; msg->pose.position.z = z; 
}




int add_to_viz_markers_vec(std::vector<visualization_msgs::Marker>* marker_vec)
{
        geometry_msgs::Point p;
        std_msgs::ColorRGBA color;

        //Draw the projections names
        visualization_msgs::Marker msg; //declare the msg 
        msg.pose.orientation.w = 1.0;
        msg.header.stamp = ros::Time::now();
        msg.id = 0;
        msg.scale.x = 1; msg.scale.y = 1; msg.scale.z = 0.1; 
        msg.color.r = 0.0; msg.color.g = 0; msg.color.b = 0.3; msg.color.a = 1;
        msg.pose.position.x = 0; msg.pose.position.y = 0; msg.pose.position.z = -0.1; 
        msg.action = visualization_msgs::Marker::ADD;
        msg.type = visualization_msgs::Marker::TEXT_VIEW_FACING;

        for (size_t i=0; i< v_rf.size(); ++i)
        {
                msg.header.frame_id = v_rf[i]->name;
                msg.ns = msg.header.frame_id.c_str();
                msg.text = msg.header.frame_id.c_str(); 
                set_label_pos(v_rf[i]->x,v_rf[i]->y,v_rf[i]->z, &msg, marker_vec);
                marker_vec->push_back(msg);
        }

        return 1;
}

void make6DofMarker( bool fixed, std::string name , double x, double y, double z)
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = name;
        int_marker.pose.position.x = x;
        int_marker.pose.position.y = y;
        int_marker.pose.position.z = z;
        int_marker.scale = 0.1;

        int_marker.name = name;
        int_marker.description = "";

        // insert a box
        makeBoxControl(int_marker);
        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        control.name = "move_x";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        control.name = "move_z";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 0;
        control.orientation.z = 1;
        control.name = "move_y";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}

void GetName(xmlTextReaderPtr reader,string& str)
{
        xmlChar*name=xmlTextReaderName(reader);
        if(!name)return;
        str=(char*)name;
        xmlFree(name);
}

void GetValue(xmlTextReaderPtr reader,string& str)
{
        xmlChar*value=xmlTextReaderValue(reader);
        if(!value)return;
        str=(char*)value;
        xmlFree(value);
}

void GetAttribute(xmlTextReaderPtr reader,const xmlChar*name,string& str)
{
        xmlChar*attribute=xmlTextReaderGetAttribute(reader,name);
        if(!attribute)return;
        str=(char*)attribute;
        xmlFree(attribute);
}

void NodeHandler(xmlTextReaderPtr reader)
{
        string name,value;
        string dev_name;
        GetName(reader,name);
        
        to_upper(name);
        
        if(name=="LINK" && xmlTextReaderNodeType(reader)==1)
        {
                GetAttribute(reader,BAD_CAST "name",dev_name);
                boost::shared_ptr<t_reference_frame> rf(new t_reference_frame);
                rf->name = dev_name;
                rf->x = 0; rf->y =0; rf->z =0;
                v_rf.push_back(rf);
                make6DofMarker( true, v_rf[v_rf.size()-1]->name , v_rf[v_rf.size()-1]->x, v_rf[v_rf.size()-1]->y, v_rf[v_rf.size()-1]->z);
        }
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "atlascar_transforms"); // Initialize ROS coms
        ros::NodeHandle n; //The node handle
        ros::Rate loop_rate(1); 
        ros::Publisher vis_pub = n.advertise<visualization_msgs::MarkerArray>( "/axis_markers", 0 );
        tf::TransformListener listener(n,ros::Duration(10));
        p_listener=&listener;
        server.reset( new interactive_markers::InteractiveMarkerServer("show_axes","",false) );
        ros::Duration(0.1).sleep();



        //for now have a hard coded link to the atlascar urdf file, we could do this by the command line arguments
        //std::string urdf_file = ros::package::getPath("atlascar_base") + "/urdf/atlascar_urdf_3dsmodels.xml";

        std::string urdf_file = ros::package::getPath("coordinate_frames") + "/urdf/urdf.xml";

        printf("reading %s\n",urdf_file.c_str());

        int ret;
        xmlTextReaderPtr reader = xmlNewTextReaderFilename(urdf_file.c_str());
        if(reader!=NULL)
        {
                do
                {
                        ret=xmlTextReaderRead(reader);//this function returns 1 if ok, -1 on error and 0 if there is no more nodes to read
                        NodeHandler(reader);
                }while(ret==1);
                
                xmlFreeTextReader(reader);
                if (ret != 0)//zero means the end of the file
                {
                        ROS_ERROR("Failed to parse file");
                        return -1;
                }
        }else
        {
                ROS_ERROR("Failed to parse file");
                return -1;
        }

        PFLN





        server->applyChanges();


        while (ros::ok())
        {
                visualization_msgs::MarkerArray marker_msg;
                
                add_to_viz_markers_vec(&(marker_msg.markers));

                vis_pub.publish(marker_msg);

                // This will adjust as needed per iteration
                loop_rate.sleep();
                ros::spinOnce();
                ros::spinOnce();
                ros::spinOnce();
                ros::spinOnce();
                ros::spinOnce();
                ros::spinOnce();
        }


        server.reset();
}
#endif

---

atlascar_base
Author(s): Jorge Almeida, Miguel Oliveira, Pedro Salvado, Andre Oliveira and Pedro Pinheiro
autogenerated on Wed Jul 23 04:34:34 2014