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  /* @author Zhang Wanjie                                             */
  
  #include <ros/ros.h>
  #include <std_msgs/String.h>
  #include <wpb_home_behaviors/Coord.h>
  
  void ObjCoordCB(const wpb_home_behaviors::Coord::ConstPtr &msg)
  {
      int nNumObj = msg->name.size();
      ROS_WARN("[ObjCoordCB] obj = %d",nNumObj);
      if(nNumObj > 0)
      {
          for(int i=0 ; i<nNumObj ; i++)
          {
              ROS_WARN("[ObjCoordCB] %s - (%.2f , %.2f , %.2f)",msg->name[i].c_str(),msg->x[i],msg->y[i],msg->z[i]);
          }
          
      }
  } 
  
  int main(int argc, char** argv)
  {
      ros::init(argc, argv, "wpb_home_obj_node");
      ROS_WARN("wpb_home_obj_node start!");
  
      ros::NodeHandle n;
      ros::Subscriber obj_sub = n.subscribe("/wpb_home/objects_3d", 1, ObjCoordCB);
  
      ros::spin();
  
      return 0;
  }
  