Minecraft visualization pkg

.github/workflows/ci_humble.yaml

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+name: ci_humble
+
+on:
+  push:
+    branches:
+      - "humble"
+  pull_request:
+    types: [opened, synchronize, labeled]
+
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'humble' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'humble') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'humble')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 20
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@v0.7
+      - name: Build and Test
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          package-name: |
+            minecraft_utils
+            minecraft_utils_visualization
+          vcs-repo-file-url: build_depends.repos

build_depends.repos

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+repositories:
+  minecraft-ros2/minecraft_msgs:
+    type: git
+    url: https://github.com/minecraft-ros2/minecraft_msgs.git
+    version: humble

minecraft_utils/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(minecraft_utils)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_package()

minecraft_utils/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>minecraft_utils</name>
+  <version>0.0.1</version>
+  <description>The minecraft_utils package</description>
+  <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>minecraft_utils_visualization</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

minecraft_utils_visualization/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(minecraft_utils_visualization)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(TARGET mob_marker)
+ament_auto_add_library(${TARGET} SHARED ./src/${TARGET}.cpp)
+rclcpp_components_register_node(
+  ${TARGET}
+    PLUGIN "minecraft_utils_visualization::MobMarker"
+    EXECUTABLE ${TARGET}_exec)
+target_include_directories(
+  ${TARGET} PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

minecraft_utils_visualization/include/minecraft_utils_visualization/mob_marker.hpp

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+// Copyright 2025 minecraft-ros2
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MINECRAFT_UTILS_VISUALIZATION__MOB_MARKER_HPP_
+#define MINECRAFT_UTILS_VISUALIZATION__MOB_MARKER_HPP_
+
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Vector3.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <cmath>
+#include <functional>
+#include <memory>
+#include <sstream>
+#include <string>
+
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <minecraft_msgs/msg/living_entity.hpp>
+#include <minecraft_msgs/msg/living_entity_array.hpp>
+#include <minecraft_msgs/msg/mob_category.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/header.hpp>
+#include <visualization_msgs/msg/marker.hpp>
+#include <visualization_msgs/msg/marker_array.hpp>
+
+
+namespace minecraft_utils_visualization
+{
+class MobMarker : public rclcpp::Node
+{
+public:
+  explicit MobMarker(rclcpp::NodeOptions);
+  ~MobMarker() = default;
+
+private:
+  void mobCallback(const minecraft_msgs::msg::LivingEntityArray::SharedPtr);
+
+  void setMarkerColor(const uint8_t, visualization_msgs::msg::Marker &);
+
+  void addNameHealthMarker(
+    const minecraft_msgs::msg::LivingEntity &,
+    const std_msgs::msg::Header &,
+    const float, const float, const float,
+    const geometry_msgs::msg::Quaternion &,
+    visualization_msgs::msg::MarkerArray &);
+
+  tf2::Vector3 transformToPlayerFrame(
+    const geometry_msgs::msg::Quaternion & player_orientation,
+    const float, const float, const float);
+
+  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr marker_pub_;
+  rclcpp::Subscription<minecraft_msgs::msg::LivingEntityArray>::SharedPtr mob_sub_;
+
+  std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+  std::string world_frame_id_;
+  std::string player_frame_id_;
+  std::string mob_namespace_;
+  std::string mob_text_namespace_;
+};
+
+}  // namespace minecraft_utils_visualization
+
+#endif  // MINECRAFT_UTILS_VISUALIZATION__MOB_MARKER_HPP_

minecraft_utils_visualization/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>minecraft_utils_visualization</name>
+  <version>0.0.1</version>
+  <description>The minecraft_utils_visualization package</description>
+  <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>minecraft_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>