text: #ifndef EVNIRONMENT_ENVIRONMENT_H_
  #define EVNIRONMENT_ENVIRONMENT_H_
  #include <ros/ros.h>
  #include <std_msgs/Bool.h>
  #include <visualization_msgs/Marker.h>
  #include <visualization_msgs/MarkerArray.h>
  #include <resource_retriever/retriever.h>
  #include <cmath>
  #include <fstream>
  #include <boost/format.hpp>
  
  
  
  //Gas Sources
  int                                 number_of_sources;
  std::vector<double>                 gas_source_pos_x;
  std::vector<double>                 gas_source_pos_y;
  std::vector<double>                 gas_source_pos_z;
  std::vector<double>                 gas_source_scale;
  std::vector< std::vector<double> >  gas_source_color;
  
  //CAD models
  int                                 number_of_CAD;
  std::vector<std::string>            CAD_models;
  std::vector< std::vector<double> >  CAD_color;
  
  //Environment 3D
  std::string occupancy3D_data;       //Location of the 3D Occupancy GridMap of the environment
  std::string	fixed_frame;            //Frame where to publish the markers
  int			env_cells_x;            //cells
  int 		env_cells_y;            //cells
  int 		env_cells_z;            //cells
  double      env_min_x;              //[m]
  double      env_max_x;              //[m]
  double      env_min_y;              //[m]
  double      env_max_y;              //[m]
  double      env_min_z;              //[m]
  double      env_max_z;              //[m]
  double		cell_size;              //[m]
  
  bool        verbose;
  bool        wait_preprocessing;
  bool        preprocessing_done;
  
  //Methods
  void loadNodeParameters(ros::NodeHandle);
  void loadEnvironment(visualization_msgs::MarkerArray &env_marker);
  #endif
  
  