carma_cooperative_perception::DetectionListVizNode Class Reference

#include <detection_list_viz_component.hpp>

Inheritance diagram for carma_cooperative_perception::DetectionListVizNode:

Collaboration diagram for carma_cooperative_perception::DetectionListVizNode:

Public Member Functions
	DetectionListVizNode (const rclcpp::NodeOptions &options)

Private Attributes
rclcpp::Subscription< carma_cooperative_perception_interfaces::msg::DetectionList >::SharedPtr	detection_list_sub_ {nullptr}
rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	marker_pub_ {nullptr}

Detailed Description

Definition at line 24 of file detection_list_viz_component.hpp.

Constructor & Destructor Documentation

DetectionListVizNode()

carma_cooperative_perception::DetectionListVizNode::DetectionListVizNode ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 22 of file detection_list_viz_component.cpp.

: Node("detection_list_viz_node", options)
{
  detection_list_sub_ =
    create_subscription<carma_cooperative_perception_interfaces::msg::DetectionList>(
      "input/detections_lists", 1,
      [this](carma_cooperative_perception_interfaces::msg::DetectionList::ConstSharedPtr msg_ptr) {
        visualization_msgs::msg::MarkerArray markers;
 
        for (const auto detection : msg_ptr->detections) {
          visualization_msgs::msg::Marker marker;
 
          marker.header = detection.header;
          marker.ns = detection.id;
          marker.type = marker.CUBE;
          marker.action = marker.MODIFY;  // equivalent to ADD if marker does not exist
          marker.pose = detection.pose.pose;
          marker.scale.x = 2.0;
          marker.scale.y = 2.0;
          marker.scale.z = 2.0;
 
          markers.markers.push_back(marker);
        }
 
        marker_pub_->publish(markers);
      });
 
  marker_pub_ = create_publisher<visualization_msgs::msg::MarkerArray>("output/markers", 1);
}

References detection_list_sub_, and marker_pub_.

Member Data Documentation

detection_list_sub_

rclcpp::Subscription<carma_cooperative_perception_interfaces::msg::DetectionList>::SharedPtr carma_cooperative_perception::DetectionListVizNode::detection_list_sub_ {nullptr}

private

Definition at line 31 of file detection_list_viz_component.hpp.

Referenced by DetectionListVizNode().

marker_pub_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr carma_cooperative_perception::DetectionListVizNode::marker_pub_ {nullptr}

private

Definition at line 33 of file detection_list_viz_component.hpp.

Referenced by DetectionListVizNode().

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The documentation for this class was generated from the following files:

• carma_cooperative_perception/include/carma_cooperative_perception/detection_list_viz_component.hpp
• carma_cooperative_perception/src/detection_list_viz_component.cpp