ros(21):visualization_msgs::Marker基本形状Basic Shapes 基本操作ADD DELETE（c++）教程

1 创建工作空间

        先看一下有哪些文件：（请忽略压缩包）

meng@meng:~/ideas/ros_ws$ tree
.
└── src
    ├── beginner_tutorials.zip
    └── using_markers
        ├── CMakeLists.txt
        ├── include
        │   └── using_markers
        ├── package.xml
        └── src
            └── basic_shapes.cpp

5 directories, 4 files

        创建功能包：

cd xxx/ros_ws/src
catkin_create_pkg using_markers roscpp visualization_msgs

        添加basic_shapes.cpp文件，内容如下：

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

int main( int argc, char** argv )
{
  ros::init(argc, argv, "basic_shapes");
  ros::NodeHandle n;
  ros::Rate r(1);
  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);

  // Set our initial shape type to be a cube
  uint32_t shape = visualization_msgs::Marker::CUBE;

  while (ros::ok())
  {
    visualization_msgs::Marker marker;
    // Set the frame ID and timestamp.  See the TF tutorials for information on these.
    marker.header.frame_id = "/my_frame";
    marker.header.stamp = ros::Time::now();

    // Set the namespace and id for this marker.  This serves to create a unique ID
    // Any marker sent with the same namespace and id will overwrite the old one
    marker.ns = "basic_shapes";
    marker.id = 0;

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
    marker.type = shape;

    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
    marker.action = visualization_msgs::Marker::ADD;

    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
    marker.pose.position.x = 0;
    marker.pose.position.y = 0;
    marker.pose.position.z = 0;
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;

    // Set the scale of the marker -- 1x1x1 here means 1m on a side
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;

    // Set the color -- be sure to set alpha to something non-zero!
    marker.color.r = 0.0f;
    marker.color.g = 1.0f;
    marker.color.b = 0.0f;
    marker.color.a = 1.0;

    marker.lifetime = ros::Duration();

    // Publish the marker
    while (marker_pub.getNumSubscribers() < 1)
    {
      if (!ros::ok())
      {
        return 0;
      }
      ROS_WARN_ONCE("Please create a subscriber to the marker");
      sleep(1);
    }
    marker_pub.publish(marker);

    // Cycle between different shapes
    switch (shape)
    {
    case visualization_msgs::Marker::CUBE:
      shape = visualization_msgs::Marker::SPHERE;
      break;
    case visualization_msgs::Marker::SPHERE:
      shape = visualization_msgs::Marker::ARROW;
      break;
    case visualization_msgs::Marker::ARROW:
      shape = visualization_msgs::Marker::CYLINDER;
      break;
    case visualization_msgs::Marker::CYLINDER:
      shape = visualization_msgs::Marker::CUBE;
      break;
    }

    r.sleep();
  }
}

        修改CMakeLists.txt，在文件末尾添加下面内容，用于生成一个可执行节点basic_shapes

add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})

2 编译运行

cd xxx/ros_ws
catkin_make
source devel/setup.bash
rosrun using_markers basic_shapes

 另启动一个终端，输入：

rosrun rviz rviz

在打开的rviz里面，选择frame_id为“/my_frame”,并用add添加Marker话题；效果如下，可以看到一些基本形状

 

3基本操作教程ADD DELETE：

        将basic_shapes.cpp进行压缩备份，修改其内容为：（注意时间错rostime的传递）

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

// Set our initial shape type to be a cube
uint32_t shape = visualization_msgs::Marker::CUBE;
ros::Publisher marker_pub ;

void add_marker(const ros::Time& rostime){
    visualization_msgs::Marker marker;
    // Set the frame ID and timestamp.  See the TF tutorials for information on these.
    marker.header.frame_id = "/my_frame";
    marker.header.stamp = rostime;

    // Set the namespace and id for this marker.  This serves to create a unique ID
    // Any marker sent with the same namespace and id will overwrite the old one
    marker.ns = "basic_shapes";
    marker.id = 0;

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
    marker.type = shape;

    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
    marker.action = visualization_msgs::Marker::ADD;
    ROS_WARN("marker at rostime be add");
    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
    marker.pose.position.x = 0;
    marker.pose.position.y = 0;
    marker.pose.position.z = 0;
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;

    // Set the scale of the marker -- 1x1x1 here means 1m on a side
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;

    // Set the color -- be sure to set alpha to something non-zero!
    marker.color.r = 0.0f;
    marker.color.g = 1.0f;
    marker.color.b = 0.0f;
    marker.color.a = 1.0;

    marker.lifetime = ros::Duration();

    // Publish the marker
    while (marker_pub.getNumSubscribers() < 1)
    {
      if (!ros::ok())
      {
        return ;
      }
      ROS_WARN_ONCE("Please create a subscriber to the marker");
      sleep(1);
    }
    marker_pub.publish(marker);
}

void delete_marker(const ros::Time& rostime){
    visualization_msgs::Marker marker;
    // Set the frame ID and timestamp.  See the TF tutorials for information on these.
    marker.header.frame_id = "/my_frame";
    marker.header.stamp = rostime;

    // Set the namespace and id for this marker.  This serves to create a unique ID
    // Any marker sent with the same namespace and id will overwrite the old one
    marker.ns = "basic_shapes";
    marker.id = 0;

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
    marker.type = shape;

    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
    marker.action = visualization_msgs::Marker::DELETE;
    ROS_WARN("marker at rostime be delete");

    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
    marker.pose.position.x = 0;
    marker.pose.position.y = 0;
    marker.pose.position.z = 0;
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;

    // Set the scale of the marker -- 1x1x1 here means 1m on a side
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;

    // Set the color -- be sure to set alpha to something non-zero!
    marker.color.r = 0.0f;
    marker.color.g = 1.0f;
    marker.color.b = 0.0f;
    marker.color.a = 1.0;

    marker.lifetime = ros::Duration();

    // Publish the marker
    while (marker_pub.getNumSubscribers() < 1)
    {
      if (!ros::ok())
      {
        return ;
      }
      ROS_WARN_ONCE("Please create a subscriber to the marker");
      sleep(1);
    }
    marker_pub.publish(marker);
}

int main( int argc, char** argv )
{
  ros::init(argc, argv, "basic_shapes");
  ros::NodeHandle n;
  ros::Rate r(1);
  marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);

  while (ros::ok())
  {
    ros::Time rostime = ros::Time::now();//统一时间变量
    add_marker(rostime);//在rostime时刻添加一个形状
    delete_marker(rostime);//在rostime时刻删除一个形状
    r.sleep();
  }
}

        上面的程序用于在某一时刻先发布一个marker，然后在同一时刻删除这个marker；最终结果是rviz里面看不到任何形状----用于验证marker.action = visualization_msgs::Marker::ADD、marker.action = visualization_msgs::Marker::DELETE操作的有效性 

        （注：可以在main函数里面注释delete_marker(rostime)来验证该程序的有效性

        同样参考“2编译运行”，rviz界面没有任何形状

 

官方教程链接：

 rviz/Tutorials/Markers: Basic Shapes - ROS Wiki