ROS学习笔记(八)::RVIZ::Interactive Markers: Writing a Simple Interactive Marker Server

  
  1 Interactive Markers:  Interactive Markers: Writing a Simple Interactive Marker Server
说明：本教程介绍了如何设置一个管理交互标志物的最简单的服务器。
2.内容
如果你运行如前面的教程中介绍，interactive_marker_tutorials的simple_marker例子，你会在RViz看到：

它展示出了由服务器节点提供的单个交互标志物。点击箭头移动框盒子，每次在RViz改变它，你也将看到，服务器节点打印出标记物的当前位置。
这是服务器节点的代码：

https://raw.githubusercontent.com/ros-visualization/visualization_tutorials/indigo-devel/interactive_marker_tutorials/src/simple_marker.cpp

  97 #include <ros/ros.h>
  98 
  99 #include <interactive_markers/interactive_marker_server.h>
 100 
 101 void processFeedback(
 102     const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
 103 {
  
 104   ROS_INFO_STREAM( feedback->marker_name << " is now at "
 105       << feedback->pose.position.x << ", " << feedback->pose.position.y
 106       << ", " << feedback->pose.position.z );