/** \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`. */