jsk_rviz_plugins/samples/bounding_box_sample.py: update to show floor…

… box

jsk_rviz_plugins/samples/bounding_box_sample.py

@@ -12,15 +12,19 @@
 while not rospy.is_shutdown():
   box_a = BoundingBox()
   box_b = BoundingBox()
+  box_c = BoundingBox()
   box_a.label = 2
   box_b.label = 5
+  box_b.label = 10
   box_arr = BoundingBoxArray()
   now = rospy.Time.now()
   box_a.header.stamp = now
   box_b.header.stamp = now
+  box_c.header.stamp = now
   box_arr.header.stamp = now
   box_a.header.frame_id = "map"
   box_b.header.frame_id = "map"
+  box_c.header.frame_id = "map"
   box_arr.header.frame_id = "map"
   q = quaternion_about_axis((counter % 100) * math.pi * 2 / 100.0, [0, 0, 1])
   box_a.pose.orientation.x = q[0]
@@ -29,16 +33,23 @@
   box_a.pose.orientation.w = q[3]
   box_b.pose.orientation.w = 1
   box_b.pose.position.y = 2
+  box_c.pose.position.y = 1
+  box_c.pose.position.z = -0.52
   box_b.dimensions.x = (counter % 10 + 1) * 0.1
   box_b.dimensions.y = ((counter + 1) % 10 + 1) * 0.1
   box_b.dimensions.z = ((counter + 2) % 10 + 1) * 0.1
   box_a.dimensions.x = 1
   box_a.dimensions.y = 1
   box_a.dimensions.z = 1
+  box_c.dimensions.x = 3
+  box_c.dimensions.y = 3
+  box_c.dimensions.z = 0.02
   box_a.value = (counter % 100) / 100.0
   box_b.value = 1 - (counter % 100) / 100.0
+  box_c.value = (counter % 300) / 100.0
   box_arr.boxes.append(box_a)
   box_arr.boxes.append(box_b)
+  box_arr.boxes.append(box_c)
   pub.publish(box_arr)
   r.sleep()
   counter = counter + 1