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- using namespace std;
- ros::Publisher marker_pub;
- int cwdNum = 0;
- int iterated = 0;
- void cwdAllocListnerCallback(const cwdnav_common::Swarm::ConstPtr& msg) {
- cwdNum = 0;
- ros::Rate r(30)
- for (int i = 0; i < msg->cwds.size(); i++) {
- cwdnav_common::CwdElement p = msg->cwds[i];
- std::cout << p.header.stamp << " ," << p.position.x << " ," << p.position.y << std::endl; // <--- Print here is compared.
- }
- }
- void initROS() {
- ros::NodeHandle n;
- ros::Subscriber sub = n.subscribe(CwdSensorInteraction::TOPICNAME_SWM, 10,
- cwdAllocListnerCallback);
- marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);
- ros::spin();
- }
- int main(int argc, char **argv) {
- ros::init(argc, argv, "CwdSensor");
- initROS();
- return 0;
- }
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