Debug code for http://answers.ros.org/question/65153/ar_posearmarkersh-not-found/

CMakeLists.txt

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(obstacle_detection obstacle_detection.cpp)
#target_link_libraries(example ${PROJECT_NAME})

mainpage.dox

/**
\mainpage
\htmlinclude manifest.html

\b obstacle_detection 

<!-- 
Provide an overview of your package.
-->

-->


*/

Makefile

include $(shell rospack find mk)/cmake.mk

manifest.xml

<package>
  <description brief="obstacle_detection">

    obstacle_detection

  </description>
  <author>me</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/obstacle_detection</url>
  <depend package="pcl"/>
  <depend package="pcl_ros"/>
  <depend package="roscpp"/>
  <depend package="sensor_msgs"/>
  <depend package="artoolkit"/>
  <depend package="ar_pose"/>

</package>

obstacle_detection.cpp

#include <ros/ros.h>
#include <ar_pose/ARMarkers.h>

void processing (const ar_pose::ARMarkers::ConstPtr& msg){

    ar_pose::ARMarker ar_pose_marker;

    for(size_t i=0;i<=msg->markers.size();i++){
      ar_pose_marker = msg->markers.at(i);
      std::cout<<"x " << ar_pose_marker.pose.pose.position.x<<std::endl;
      std::cout<<"y " << ar_pose_marker.pose.pose.position.y<<std::endl;
      std::cout<<"z " << ar_pose_marker.pose.pose.position.z<<std::endl;

    }
}


int main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "locateCamera");
  ros::NodeHandle nh;


  // Create a ROS subscriber
  ros::Subscriber sub = nh.subscribe ("input", 1, processing);

  ros::spin ();
}