(3) Dorothy Jorgensen - GUI and Visualization

I wrote code for 6 - DOF Interactive Markers that would appear when activated by a string message published by the topic JointPlanActivator. The markers could be viewed in RVIZ, as shown below.

Here is a screenshot of some of the code involved:

A challenge while writing this code was that it needed to start out listening for a message that would trigger it. The subscriber listened from inside a second function, and this second function would obstruct the trigger-message from reaching the first function. The 'boost' class allowed us to bypass this by passing a function with arguments into a callback as a single argument.

Link to the full .cpp file in Bitbucket here.