publish_target.cpp

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//#include <tf/tf.h>

//#include <math.h>
//#include <interactive_markers/interactive_marker_server.h>
//#include <stdio.h>
//#include <ros/ros.h>
//#include <laser_geometry/laser_geometry.h>
//#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
//#include <tf/transform_listener.h>
//#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
//#include <pcl/segmentation/extract_polygonal_prism_data.h>
//#include <pcl/filters/extract_indices.h>
//#include <pcl/filters/project_inliers.h>

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>

#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

#include <math.h>

using namespace visualization_msgs;


// %Tag(vars)%
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
float marker_pos = 0;
interactive_markers::MenuHandler menu_handler;
ros::Publisher pub;
// %EndTag(vars)%

// %Tag(frameCallback)%
void frameCallback(const ros::TimerEvent&)
{
        //static uint32_t counter = 0;

        //static tf::TransformBroadcaster br;

        //tf::Transform t;

        //ros::Time time = ros::Time::now();

        //t.setOrigin(tf::Vector3(0.0, 0.0, sin(float(counter)/140.0) * 2.0));
        //t.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
        //br.sendTransform(tf::StampedTransform(t, time, "base_link", "moving_frame"));

        //t.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
        //t.setRotation(tf::createQuaternionFromRPY(0.0, float(counter)/140.0, 0.0));
        //br.sendTransform(tf::StampedTransform(t, time, "base_link", "rotating_frame"));

        //++counter;
}
// %EndTag(frameCallback)%

// %Tag(processFeedback)%
void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        std::ostringstream s;
        s << "Feedback from marker '" << feedback->marker_name << "' "
                << " / control '" << feedback->control_name << "'";

        std::ostringstream mouse_point_ss;
        if( feedback->mouse_point_valid )
        {
                mouse_point_ss << " at " << feedback->mouse_point.x
                        << ", " << feedback->mouse_point.y
                        << ", " << feedback->mouse_point.z
                        << " in frame " << feedback->header.frame_id;
        }

        switch ( feedback->event_type )
        {
                //case visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK:
                //ROS_INFO_STREAM( s.str() << ": button click" << mouse_point_ss.str() << "." );
                //break;

                //case visualization_msgs::InteractiveMarkerFeedback::MENU_SELECT:
                //ROS_INFO_STREAM( s.str() << ": menu item " << feedback->menu_entry_id << " clicked" << mouse_point_ss.str() << "." );
                //break;

                case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
                        pcl::PointCloud<pcl::PointXYZ> pc;
                        pcl::PointXYZ pt;       
                        pt.x = feedback->pose.position.x; pt.y = feedback->pose.position.y;     pt.z = feedback->pose.position.z;
                        pc.points.push_back(pt);

                        sensor_msgs::PointCloud2 pcmsg_out;
                        pcl::toROSMsg(pc, pcmsg_out);
                        pcmsg_out.header.stamp = ros::Time::now();
                        pcmsg_out.header.frame_id = "/atc/vehicle/center_bumper";
                        //ROS_INFO("Publishing Target position x=%f y=%f z=%f", feedback->pose.position.x, feedback->pose.position.y, feedback->pose.position.z);
                        pub.publish(pcmsg_out);

                        //ROS_INFO_STREAM( s.str() << ": pose changed"
                        //<< "\nposition = "
                        //<< feedback->pose.position.x
                        //<< ", " << feedback->pose.position.y
                        //<< ", " << feedback->pose.position.z
                        //<< "\norientation = "
                        //<< feedback->pose.orientation.w
                        //<< ", " << feedback->pose.orientation.x
                        //<< ", " << feedback->pose.orientation.y
                        //<< ", " << feedback->pose.orientation.z
                        //<< "\nframe: " << feedback->header.frame_id
                        //<< " time: " << feedback->header.stamp.sec << "sec, "
                        //<< feedback->header.stamp.nsec << " nsec" );
                        break;

                        //case visualization_msgs::InteractiveMarkerFeedback::MOUSE_DOWN:
                        //ROS_INFO_STREAM( s.str() << ": mouse down" << mouse_point_ss.str() << "." );
                        //break;

                        //case visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP:
                        //ROS_INFO_STREAM( s.str() << ": mouse up" << mouse_point_ss.str() << "." );
                        //break;
        }

        server->applyChanges();
}
// %EndTag(processFeedback)%

// %Tag(alignMarker)%
void alignMarker( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        geometry_msgs::Pose pose = feedback->pose;

        pose.position.x = round(pose.position.x-0.5)+0.5;
        pose.position.y = round(pose.position.y-0.5)+0.5;

        ROS_INFO_STREAM( feedback->marker_name << ":"
                        << " aligning position = "
                        << feedback->pose.position.x
                        << ", " << feedback->pose.position.y
                        << ", " << feedback->pose.position.z
                        << " to "
                        << pose.position.x
                        << ", " << pose.position.y
                        << ", " << pose.position.z );

        server->setPose( feedback->marker_name, pose );
        server->applyChanges();
}
// %EndTag(alignMarker)%

double rand( double min, double max )
{
        double t = (double)rand() / (double)RAND_MAX;
        return min + t*(max-min);
}

// %Tag(Box)%
Marker makeBox( InteractiveMarker &msg )
{
        Marker marker;

        marker.type = Marker::SPHERE;
        marker.scale.x = msg.scale * 0.45;
        marker.scale.y = msg.scale * 0.45;
        marker.scale.z = msg.scale * 0.45;
        marker.color.r = 0;
        marker.color.g = 0.7;
        marker.color.b = 0;
        marker.color.a = 0.6;

        return marker;
}

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();
}
// %EndTag(Box)%

void saveMarker( InteractiveMarker int_marker )
{
        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}


// %Tag(6DOF)%
void make6DofMarker( bool fixed )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/atc/vehicle/center_bumper";
        int_marker.pose.position.x = 2;
        int_marker.pose.position.y = 0;
        int_marker.pose.position.z = 0.5;
        int_marker.scale = 0.5;

        int_marker.name = "Fovetation Control Target";
        int_marker.description = "Foveation_control will try \nto aim the PTU towards\n the marker";

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

        if ( fixed )
        {
                //int_marker.name += "_fixed";
                //int_marker.description += "\n(fixed orientation)";
                //control.orientation_mode = InteractiveMarkerControl::FIXED;
        }

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        //control.name = "rotate_x";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        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 = "rotate_z";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        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 = "rotate_y";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        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);
}
// %EndTag(6DOF)%

// %Tag(RandomDof)%
void makeRandomDofMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "6dof_random_axes";
        int_marker.description = "6-DOF\n(Arbitrary Axes)";

        makeBoxControl(int_marker);

        InteractiveMarkerControl control;

        for ( int i=0; i<3; i++ )
        {
                control.orientation.w = rand(-1,1);
                control.orientation.x = rand(-1,1);
                control.orientation.y = rand(-1,1);
                control.orientation.z = rand(-1,1);
                control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
                int_marker.controls.push_back(control);
                control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
                int_marker.controls.push_back(control);
        }

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(RandomDof)%


// %Tag(ViewFacing)%
void makeViewFacingMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "view_facing";
        int_marker.description = "View Facing 6-DOF";

        InteractiveMarkerControl control;

        // make a control that rotates around the view axis
        control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        control.orientation.w = 1;
        control.name = "rotate";

        int_marker.controls.push_back(control);

        // create a box in the center which should not be view facing,
        // but move in the camera plane.
        control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        control.independent_marker_orientation = true;
        control.name = "move";

        control.markers.push_back( makeBox(int_marker) );
        control.always_visible = true;

        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(ViewFacing)%


// %Tag(Quadrocopter)%
void makeQuadrocopterMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "quadrocopter";
        int_marker.description = "Quadrocopter";

        makeBoxControl(int_marker);

        InteractiveMarkerControl control;

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

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(Quadrocopter)%

// %Tag(ChessPiece)%
void makeChessPieceMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "chess_piece";
        int_marker.description = "Chess Piece\n(2D Move + Alignment)";

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        int_marker.controls.push_back(control);

        // make a box which also moves in the plane
        control.markers.push_back( makeBox(int_marker) );
        control.always_visible = true;
        int_marker.controls.push_back(control);

        // we want to use our special callback function
        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);

        // set different callback for POSE_UPDATE feedback
        server->setCallback(int_marker.name, &alignMarker, visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE );
}
// %EndTag(ChessPiece)%

// %Tag(PanTilt)%
void makePanTiltMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "pan_tilt";
        int_marker.description = "Pan / Tilt";

        makeBoxControl(int_marker);

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        control.orientation_mode = InteractiveMarkerControl::FIXED;
        int_marker.controls.push_back(control);

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 0;
        control.orientation.z = 1;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        control.orientation_mode = InteractiveMarkerControl::INHERIT;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(PanTilt)%

// %Tag(Menu)%
void makeMenuMarker()
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "context_menu";
        int_marker.description = "Context Menu\n(Right Click)";

        InteractiveMarkerControl control;

        // make one control using default visuals
        control.interaction_mode = InteractiveMarkerControl::MENU;
        control.description="Options";
        control.name = "menu_only_control";
        int_marker.controls.push_back(control);

        // make one control showing a box
        Marker marker = makeBox( int_marker );
        control.markers.push_back( marker );
        control.always_visible = true;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
        menu_handler.apply( *server, int_marker.name );
}
// %EndTag(Menu)%

// %Tag(Moving)%
void makeMovingMarker()
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/moving_frame";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "moving";
        int_marker.description = "Marker Attached to a\nMoving Frame";

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        int_marker.controls.push_back(control);

        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        control.always_visible = true;
        control.markers.push_back( makeBox(int_marker) );
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(Moving)%

// %Tag(main)%
int main(int argc, char** argv)
{
        ros::init(argc, argv, "foveation_control_target_generator");
        ros::NodeHandle n;


        pub = n.advertise<sensor_msgs::PointCloud2>("/target", 1);

        // create a timer to update the published transforms
        //ros::Timer frame_timer = n.createTimer(ros::Duration(0.01), frameCallback);

        server.reset( new interactive_markers::InteractiveMarkerServer("bytarget/im","",false) );

        ros::Duration(0.1).sleep();


        menu_handler.insert( "First Entry", &processFeedback );
        menu_handler.insert( "Second Entry", &processFeedback );
        interactive_markers::MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Submenu" );
        menu_handler.insert( sub_menu_handle, "First Entry", &processFeedback );
        menu_handler.insert( sub_menu_handle, "Second Entry", &processFeedback );

        //make6DofMarker( false );
        make6DofMarker( true );
        //makeRandomDofMarker( );
        //makeViewFacingMarker( );
        //makeQuadrocopterMarker( );
        //makeChessPieceMarker( );
        //makePanTiltMarker( );
        //makeMenuMarker( );
        //makeMovingMarker( );

        server->applyChanges();

        ros::spin();

        server.reset();
}
// %EndTag(main)%


//#include <interactive_markers/interactive_marker_server.h>
//#include <interactive_markers/menu_handler.h>

//#include <tf/transform_broadcaster.h>
//#include <tf/tf.h>

//#include <math.h>
//#include <interactive_markers/interactive_marker_server.h>
//#include <stdio.h>
//#include <ros/ros.h>
//#include <laser_geometry/laser_geometry.h>
//#include <sensor_msgs/LaserScan.h>
//#include <sensor_msgs/PointCloud2.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 <pcl/segmentation/extract_polygonal_prism_data.h>
//#include <pcl/filters/extract_indices.h>
//#include <pcl/filters/project_inliers.h>


//#define PFLN printf("file %s line %d\n",__FILE__,__LINE__);

//void processFeedback(
//const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
//{
//ROS_INFO_STREAM( feedback->marker_name << " is now at "
//<< feedback->pose.position.x << ", " << feedback->pose.position.y
//<< ", " << feedback->pose.position.z );
//}

//int main(int argc, char **argv)
//{




//ros::init(argc, argv, "foveation_control_target_generator");
//ros::NodeHandle n("~");
//tf::TransformListener listener(n,ros::Duration(10));
//ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("/target", 1);


//interactive_markers::InteractiveMarkerServer server("foveation_control_target_generator");

//visualization_msgs::InteractiveMarker int_marker;
//int_marker.header.frame_id = "/atc/vehicle/center_bumper";
//int_marker.name = "my_marker";
//int_marker.description = "Simple 1-DOF Control";

//visualization_msgs::Marker box_marker;
//box_marker.type = visualization_msgs::Marker::CUBE;
//box_marker.scale.x = 0.45;
//box_marker.scale.y = 0.45;
//box_marker.scale.z = 0.45;
//box_marker.color.r = 0.5;
//box_marker.color.g = 0.5;
//box_marker.color.b = 0.5;
//box_marker.color.a = 1.0;

//visualization_msgs::InteractiveMarkerControl box_control;
//box_control.always_visible = true;
//box_control.markers.push_back( box_marker );



//visualization_msgs::InteractiveMarkerControl control;

//control.orientation.w = 1;
//control.orientation.x = 1;
//control.orientation.y = 0;
//control.orientation.z = 0;
//control.name = "rotate_x";
//control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
//int_marker.controls.push_back(control);
//control.name = "move_x";
//control.interaction_mode = visualization_msgs::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 = "rotate_z";
//control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
//int_marker.controls.push_back(control);
//control.name = "move_z";
//control.interaction_mode = visualization_msgs::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 = "rotate_y";
//control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
//int_marker.controls.push_back(control);
//control.name = "move_y";
//control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
//int_marker.controls.push_back(control);

//server.insert(int_marker);
//server.setCallback(int_marker.name, &processFeedback);




//server.applyChanges();


//ros::Rate loop_rate(10);
//ros::spin();








//}