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cube_spawner_node.cpp

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  • mainpage.dox 1.02 KiB
    /**
    \mainpage
    
    \htmlinclude manifest.html
    
    ## Provided Nodes
    
    ### safety_zone_spawner
    
    * **Author:** Johannes Mey*
    
    This node spawns cubic safety zones in gazebo.
    It expects the ROS parameter `/safety_zone_spawner/zone_size` and `/safety_zone_spawner/zones` to be set.
    
    - `/safety_zone_spawner/zone_size: double`
    
      the edge size of a safety zone cube to be displayed in *m*.
    - `/safety_zone_spawner/zones: std::vector<std::string>`
    
      a list of safety zone cube integer coordinates. The coordinates are encoded in a string and separated by spaces
      and have an `x`, a `y`, and and optionally a `z` coordinate. Examples are `"3 0"` or `"-5 2 4"`. The coordinates
      are interpreted as follows: the cube at position "0 0 0" is centered at the origin of the coordinate system in
      `x` and `y` direction, but is located *on top of the x-y-plane*. All other node coordinates are defined such that
      they completely fill the space. This means that the actual coordinates (in *m*) can be computed using the ones
      given here and the `zone_size`.
    
    
    */