also publish drop-off locations

src/dummy_selection_provider.cpp

@@ -80,6 +80,7 @@ int main(int argc, char **argv) {
             n.subscribe<std_msgs::String>(prefix + "/select", 1000, [&](auto &m) { sendSelection(m->data); });
     ros::Publisher pub_objects = n.advertise<std_msgs::String>(prefix + "/objects", 1);
     ros::Publisher pub_bins = n.advertise<std_msgs::String>(prefix + "/bins", 1);
+    ros::Publisher pub_locations = n.advertise<std_msgs::String>(prefix + "/locations", 1);
 
     while (ros::ok()) {
 
@@ -106,12 +107,15 @@ int main(int argc, char **argv) {
             // collect all object names
             std::vector<std::string> objects{};
             std::vector<std::string> bins{};
+            std::vector<std::string> locs{};
             for (const auto &object: scene.objects()) {
                 ROS_DEBUG_STREAM("found object " << object.id() << " of type " << Object_Type_Name(object.type()));
                 if (object.type() == Object_Type_BOX) {
                     objects.push_back(object.id());
                 } else if (object.type() == Object_Type_BIN) {
                   bins.push_back(object.id());
+                } else if (object.type() == Object_Type_DROP_OFF_LOCATION) {
+                  locs.push_back(object.id());
                 }
             }
 
@@ -133,6 +137,15 @@ int main(int argc, char **argv) {
 
             pub_bins.publish(bins_msg);
 
+            std_msgs::String locs_msg;
+            bins_msg.data = locs.empty() ? "" :
+                            std::accumulate(
+                                ++locs.begin(), locs.end(),
+                                *locs.begin(),
+                                [](auto &a, auto &b) { return a + "," + b; });
+
+            pub_locations.publish(locs_msg);
+
             if (autoselect) {
                 if (objects.empty()) {
                     ROS_INFO("No objects to select in a scene without boxes!");