From ceed6b16972156f6b80d28a8fd27092a479f1b73 Mon Sep 17 00:00:00 2001
From: Wataru Kawai <watarukawai0114@gmail.com>
Date: Mon, 9 Oct 2017 17:12:23 +0900
Subject: [PATCH] created visualize_marker.py

created visualize_marker.py to visualize tracking marker
---
 .../scripts/visualize_marker.py               | 50 +++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 dxl_armed_turtlebot/scripts/visualize_marker.py

diff --git a/dxl_armed_turtlebot/scripts/visualize_marker.py b/dxl_armed_turtlebot/scripts/visualize_marker.py
new file mode 100644
index 00000000..b738e157
--- /dev/null
+++ b/dxl_armed_turtlebot/scripts/visualize_marker.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+
+# import rospy module (ROS client library)
+import rospy
+
+# import opencv_apps.msg.RotatedRectStamped class
+from opencv_apps.msg import RotatedRectStamped
+
+# import image_view2.msg.ImageMarker2 class
+from image_view2.msg import ImageMarker2
+
+# import geometry_msgs.msg.Point class
+from geometry_msgs.msg import Point
+
+
+def cb(msg):
+    '''
+    Callback function called when received message from topic '/camshift/track_box'
+
+    parameters:
+        msg: ROS message
+    returns:
+        None
+    '''
+
+    # print information of marker
+    print msg.rect
+
+    # instantiate ImageMarker2 object
+    marker = ImageMarker2()
+
+    # set markers value
+    marker.type = 0
+    marker.position = Point(msg.rect.center.x, msg.rect.center.y, 0)
+
+    # publish marker message to ROS node
+    pub.publish(marker)
+
+
+# register client node with name 'client'
+rospy.init_node('client')
+
+# register as subscriber to topic '/camshift/track_box' with data class of message and callback function
+rospy.Subscriber('/camshift/track_box', RotatedRectStamped, cb)
+
+# register as a publisher of ROS topic with data class of message
+pub = rospy.Publisher('/image_marker', ImageMarker2)
+
+# blocks until ROS node is shutdown
+rospy.spin()