rviz_geometry_publisher.h

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#pragma once

#include "std_msgs/ColorRGBA.h"
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

geometry_msgs::Point createPoint(float x, float y, float z);
std_msgs::ColorRGBA createColor(double r, double g, double b, double a);

class RvizGeometryPublisher
{
    public:
    RvizGeometryPublisher(ros::NodeHandle node_handle, const std::string& topic, const std::string& frame);

    void drawLine(int id, geometry_msgs::Point point1, geometry_msgs::Point point2, std_msgs::ColorRGBA color,
                  float width);

    private:
    ros::Publisher m_marker_publisher;
    const std::string m_frame;
};