mytest2.cpp

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#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

#include <wrapper_collada/wrapper_collada.h>
#define  PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}




int main(int argc, char* argv[]) {


        //daeElement* bindVertexInput = instanceMaterial->add("bind_vertex_input");
        //bindVertexInput->setAttribute("semantic", "uv0");
        //bindVertexInput->setAttribute("input_semantic", "TEXCOORD");
        //bindVertexInput->setAttribute("input_set", "0");



        //MAIN CYCLE
        ros::init(argc, argv, "point_cloud_publisher"); // Initialize ROS coms                  
        ros::NodeHandle n; //The node handle
        ros::Rate r(0.1);
        visualization_msgs::Marker marker;
        ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("/wrapper_collada", 1);
        marker.id = 1;  
        marker.header.stamp = ros::Time::now(); 
        marker.type = visualization_msgs::Marker::MESH_RESOURCE;        
        marker.action = visualization_msgs::Marker::ADD;        
        marker.ns = "ns";
        //marker.mesh_resource = "package://wrapper_collada/bin/polygons1.dae"; 
        marker.mesh_use_embedded_materials = 1; 
        marker.header.frame_id = "/atc/vehicle/ground";
        //marker.scale.x = 2.54/100;
        //marker.scale.y = 2.54/100;
        //marker.scale.z = 2.54/100;
        marker.scale.x = 1;
        marker.scale.y = 1;
        marker.scale.z = 1;
        marker.color.r = 0.2;
        marker.color.g = 0.3;
        marker.color.b = 0.4;
        marker.color.a = 1;
int a=0;
 while(n.ok())
{
        a++;
        //char str[1024];
        //sprintf(str, "mesh/polygons%d.dae",a);
        //wrapper_collada wc(str);

        //std::string polygon_name("plg0");//the polygon name   
        //pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;    //the point cloud with the polygon vertices list
        //cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
        //cloud->points.push_back(pcl::PointXYZ(-1,-1, 0));
        //cloud->points.push_back(pcl::PointXYZ(1,-1, 0));
        //cloud->points.push_back(pcl::PointXYZ(1,1, 0));
        //cloud->points.push_back(pcl::PointXYZ(-1,1, 0));

        //pcl::PointCloud<pcl::PointXYZ>::Ptr normal;   //the point cloud with the polygon vertices list
        //normal = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
        //normal->points.push_back(pcl::PointXYZ(0, 0, 1)); //the normal vector to the polygon


        //wc.add_polygon_fixed_color(polygon_name, cloud, normal, 1,0,0,1); 

        //wc.write_file();      

        char str1[1024];
        //sprintf(str1, "package://wrapper_collada/bin/%s",str);
        //sprintf(str1, "package://wrapper_collada/models/car1.dae");
        sprintf(str1, "package://wrapper_collada/models/decisive_woman.obj");
        marker.mesh_resource = str1;
        marker.header.stamp = ros::Time::now(); 
        marker_pub.publish(marker);

        ros::Duration(0.4).sleep();
        ros::spinOnce();

}

return 0;
}