void ROS_UpdateMarkers(std::vector< visualization_msgs::Marker > &marker_vector, void *pUserData)
Function to output ROS marker vector with the demonstration's constructions.
void ROS_CalculatePHANToMPenFrame(tf::TransformBroadcaster *br, tf::TransformListener *listener, void *pUserData)
Function to output ROS messages with PHANToM frames and calculate the pen tip position.