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