/home/joel/ros_workspace/lar3/planning/trajectory_planner/src/APgenerator.cpp

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#include <stdio.h>
#include <vector>
#include <math.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <numeric>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
#include "std_msgs/String.h"
#include <trajectory_planner/coordinates.h>

//namepaces
using namespace visualization_msgs;

// Global Vars
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
ros::NodeHandle* p_n;
ros::Publisher coor_pub;
trajectory_planner::coordinates message;



void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        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::POSE_UPDATE:
                        message.x=feedback->pose.position.x; message.y=feedback->pose.position.y; message.theta=2.0*asin(feedback->pose.orientation.z);

                message.header.stamp = ros::Time::now();
                message.header.frame_id = "/world";

                coor_pub.publish(message);
                        
                        break;
        }

        server->applyChanges();
}


Marker makeBox( InteractiveMarker &msg )
{
        Marker marker;

        marker.type = Marker::ARROW;
        marker.scale.x = msg.scale;
        marker.scale.y = msg.scale;
        marker.scale.z = msg.scale;
        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();
}


void make6DofMarker( bool fixed )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/world";
        int_marker.pose.position.x = 0;
        int_marker.pose.position.y = 0;
        int_marker.pose.position.z = 0;
        int_marker.scale = 0.4;

        int_marker.name = "Control target";
        int_marker.description = "Control the final \nposition of the robot";

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

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

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "APgenerator");
        ros::NodeHandle n("~");
        ros::Rate loop_rate(10);
        p_n=&n;

        coor_pub = n.advertise<trajectory_planner::coordinates>("/msg_coordinates", 1000);
        
        
        server.reset( new interactive_markers::InteractiveMarkerServer("APgenerator/im","",false) );
        make6DofMarker( true );
        server->applyChanges();
        
        while(ros::ok())
        {
                
                        
                
                loop_rate.sleep();
                ros::spinOnce();
        }

        server.reset();
}