bag_filter.cpp

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#include <ros/ros.h>
#include <std_msgs/Header.h>
#include <tf/transform_listener.h>
#include "mtt/TargetList.h"
// #include "mtt/TargetListPC.h"
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

mtt::TargetList targetList;
mtt::Target target;
visualization_msgs::Marker arrow_marker;
visualization_msgs::MarkerArray arrow_markerList;
visualization_msgs::Marker ids_marker;
visualization_msgs::MarkerArray ids_markerList;

ros::Publisher targets_pub;
ros::Publisher arrows_pub;
ros::Publisher ids_pub; 

uint interest_id = 90;

void targetsCallback(const mtt::TargetList& list){
  targetList.Targets.clear();
  for(uint i = 0; i < list.Targets.size(); i++){
    if (list.Targets[i].id == interest_id){
      target = list.Targets[i];
      targetList.Targets.push_back(target);
    }
  }
  targets_pub.publish(targetList);
}

void arrowsCallback(const visualization_msgs::MarkerArray &msg){
  arrow_markerList.markers.clear();
  for(uint i = 0; i < msg.markers.size(); i++){
    if(msg.markers[i].id == interest_id){
      arrow_marker = msg.markers[i];
      arrow_markerList.markers.push_back(arrow_marker);
    }
  }
  arrows_pub.publish(arrow_markerList);
}

void idsCallback(const visualization_msgs::MarkerArray &msg){
  ids_markerList.markers.clear();
  for(uint i = 0; i < msg.markers.size(); i++){
    if(msg.markers[i].id == interest_id){
      ids_marker = msg.markers[i];
      ids_markerList.markers.push_back(ids_marker);
    }
  }
  ids_pub.publish(ids_markerList);
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "bag_filter");
  ros::NodeHandle n;
  
  ros::Rate loop_rate(10);

  ros::Subscriber sub_targets = n.subscribe("/targetsF", 1000, targetsCallback);
  ros::Subscriber sub_arrows = n.subscribe("/arrowsF", 1000, arrowsCallback);
  ros::Subscriber sub_ids = n.subscribe("/idsF", 1000, idsCallback);
  
  targets_pub = n.advertise<mtt::TargetList>("/targets", 100);
  arrows_pub = n.advertise<visualization_msgs::MarkerArray>("/arrows", 100);
  ids_pub = n.advertise<visualization_msgs::MarkerArray>("/ids", 100);
  
  while (ros::ok())
  {      
    ros::spinOnce();
    loop_rate.sleep();
  }
  
  return(0);
}