GT Room sink #47
GT Room sink #47
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| inline static const auto registration_ = | ||
| config::RegistrationWithConfig<UpdateRoomsFunctor::Sink, GtRoomPublisher, Config>( | ||
| "GtRoomPublisher"); |
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This is better in the source file instead of in the class (I haven't gotten the chance to hide all of them yet in hydra / hydra-ros but that is my intention eventually, the frontend and backend modules are good examples of how to do this)
| room_publisher_ = nh_.create_publisher<visualization_msgs::msg::MarkerArray>( | ||
| "gt_room_boundaries", 1); |
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(minor) I'd just do using visualization_msgs::msg::MarkerArray somewhere earlier to try and avoid the line break (room_publisher_ to pub_ would get you the rest of the way if it's not short enough with the using)
| visualization_msgs::msg::Marker m; | ||
| m.action = m.DELETEALL; | ||
| ma.markers.push_back(m); |
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The auto& elem = container.emplace_back(); pattern would work here / would be pretty useful
| const std::vector<double> reds{0, .2, .4, .6, .8, 1}; | ||
| const std::vector<double> greens{1, .8, .6, .4, .2}; | ||
| const std::vector<double> blues{.4, .2, 0, 1}; |
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I'd just grab one of the visualizer colormaps instead of doing this (e.g., this is designed to do what you want)
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