4 XmlRpc::XmlRpcValue resources;
5 nh_->getParam(
"/data", resources);
7 std::vector<tf2::Transform> map_data;
8 ROS_INFO(
"--- MAP_READER ---");
11 for(
int i = 0; i < resources.size(); i++){
15 (resources[i][
"pos"].hasMember(
"x")) ? pos.setX(
floatOf(resources[i][
"pos"][
"x"])) :pos.setX(0);
16 (resources[i][
"pos"].hasMember(
"y")) ? pos.setY(
floatOf(resources[i][
"pos"][
"y"])) :pos.setY(0);
17 (resources[i][
"pos"].hasMember(
"z")) ? pos.setZ(
floatOf(resources[i][
"pos"][
"z"])) :pos.setZ(0);
18 (resources[i][
"orientation"].hasMember(
"x")) ? rot.setX(
floatOf(resources[i][
"orientation"][
"x"])) :rot.setX(0);
19 (resources[i][
"orientation"].hasMember(
"y")) ? rot.setY(
floatOf(resources[i][
"orientation"][
"y"])) :rot.setY(0);
20 (resources[i][
"orientation"].hasMember(
"z")) ? rot.setZ(
floatOf(resources[i][
"orientation"][
"z"])) :rot.setZ(0);
21 (resources[i][
"orientation"].hasMember(
"w")) ? rot.setW(
floatOf(resources[i][
"orientation"][
"w"])) :rot.setW(0);
22 map_data.push_back(tf2::Transform(rot, pos));