matlab_rviz.cpp

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#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/PoseWithCovariance.h"
#include "tf/transform_listener.h"
#include "mtt/TargetList.h"
#include <visualization_msgs/Marker.h>

ros::Publisher marker_pub;

void drawCallback(const geometry_msgs::Pose& input)
{
  visualization_msgs::Marker marker;
  
  marker.header.frame_id = "/map";
  marker.header.stamp = ros::Time::now();

  marker.ns = "quality";
  marker.id = input.orientation.x;

  marker.type = visualization_msgs::Marker::CYLINDER;
  marker.action = visualization_msgs::Marker::ADD;

  // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
  marker.pose.position.x = input.position.x;
  marker.pose.position.y = input.position.y;
  marker.pose.position.z = 0;
  marker.pose.orientation.x = 0.0;
  marker.pose.orientation.y = 0.0;
  marker.pose.orientation.z = 0.0;
  marker.pose.orientation.w = 1.0;

  // Set the scale of the marker
  marker.scale.x = 0.5;
  marker.scale.y = 0.5;
  marker.scale.z = 0.5;
 
  //good or bad leader
  if(input.position.z == -1){
    marker.color.r = 0.0f;
    marker.color.g = 1.0f;
  }
  else if (input.position.z == 1){
    marker.color.r = 1.0f;
    marker.color.g = 0.0f;
  }
      
  marker.color.b = 0.2f;
  marker.color.a = 1.0;

  marker.lifetime = ros::Duration(2);

  // Publish the marker
  marker_pub.publish(marker);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "class_view");
  ros::NodeHandle n;

  ros::Subscriber sub_draw = n.subscribe("/pose_to_draw", 1000, drawCallback);
  marker_pub = n.advertise<visualization_msgs::Marker>("/leader_quality", 1);

  ros::spin();

  return 0;
}