44 lines
828 B
C++
44 lines
828 B
C++
#include "ros/ros.h"
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#include <papillon/BoundingBox.h>
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#include <geometry_msgs/Twist.h>
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#include <opencv/cv.h>
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#include <sstream>
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using namespace std;
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class Drone_control {
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public:
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cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);
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ros::NodeHandle n;
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ros::Publisher pub_cmd;
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ros::Subscriber sub_box;
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Drone_control() : n("~") {
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pub_cmd = n.advertise<geometry_msgs::Twist>("/bebop/cmd_vel", 1);
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sub_box = n.subscribe<papillon::BoundingBox>("/papillon/bbox", 1, &Drone_control::on_msg, this);
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ROS_INFO("Built !");
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}
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// This processes an image and publishes the result.
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void on_msg(const papillon::BoundingBox::ConstPtr& bbox) {
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ROS_INFO("plop");
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}
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};
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "control");
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Drone_control con=Drone_control();
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ros::spin();
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return 0;
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}
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