More setup

CMakeLists.txt

@@ -12,6 +12,7 @@ find_package(rclcpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(phnx_msgs REQUIRED)
+find_package(OpenCV 4.2.0 REQUIRED)
 
 # Add source for node executable (link non-ros dependencies here)
 add_executable(obj_tracker src/ObjTrackerNode.cpp src/ObjTrackerNode_node.cpp)
@@ -26,6 +27,7 @@ set(dependencies
         geometry_msgs
         nav_msgs
         phnx_msgs
+        OpenCV
         )
 
 # Link ros dependencies

include/obj_tracker/ObjTrackerNode_node.hpp

@@ -1,17 +1,19 @@
 #pragma once
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "geometry_msgs/msg/pose_array.hpp"
 
 class ObjTrackerNode : public rclcpp::Node {
 private:
-    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub;
+    /// Filtered poses
+    rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr pose_pub;
 
-    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
+    /// Poses to be filtered
+    rclcpp::Subscription<geometry_msgs::msg::PoseArray>::SharedPtr pose_sub;
 
 public:
     ObjTrackerNode(const rclcpp::NodeOptions& options);
 
-    /// subscriber callback
-    void sub_cb(std_msgs::msg::String::SharedPtr msg);
+    /// Pose input
+    void pose_cb(geometry_msgs::msg::PoseArray::SharedPtr msg);
 };

package.xml

@@ -10,6 +10,7 @@
     <buildtool_depend>ament_cmake</buildtool_depend>
 
     <depend>rclcpp</depend>
+    <depend>libopencv-dev</depend>
     <depend>geometry_msgs</depend>
     <depend>nav_msgs</depend>
     <depend>phnx_msgs</depend>

src/ObjTrackerNode_node.cpp

@@ -4,24 +4,10 @@
 using namespace std::placeholders;
 
 ObjTrackerNode::ObjTrackerNode(const rclcpp::NodeOptions& options) : Node("ObjTrackerNode", options) {
-    // Parameters
-    float x = this->declare_parameter<float>("foo", -10.0);
-
     // Pub Sub
-    this->sub =
-        this->create_subscription<std_msgs::msg::String>("/str", 1, std::bind(&ObjTrackerNode::sub_cb, this, _1));
-    this->pub = this->create_publisher<std_msgs::msg::String>("/run_folder", 1);
-
-    // Log a sample log
-    RCLCPP_INFO(this->get_logger(), "You passed %f", x);
-
-    // Send a sample message
-    std_msgs::msg::String msg{};
-    msg.data = std::string{"Hello World!"};
-    pub->publish(msg);
+    this->pose_sub = this->create_subscription<geometry_msgs::msg::PoseArray>(
+        "/object_poses", 10, std::bind(&ObjTrackerNode::pose_cb, this, _1));
+    this->pose_pub = this->create_publisher<geometry_msgs::msg::PoseArray>("/tracks", 1);
 }
 
-void ObjTrackerNode::sub_cb(const std_msgs::msg::String::SharedPtr msg) {
-    // Echo message
-    this->pub->publish(*msg);
-}
+void ObjTrackerNode::pose_cb(geometry_msgs::msg::PoseArray::SharedPtr msg) {}