ros中交互显示InteractiveMarker的使用例子

直接贴例子代码，实现画多条线，鼠标单击每条线时会有菜单显示信息。

#!/usr/bin/env python

"""
Copyright (c) 2011, Willow Garage, Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Willow Garage, Inc. nor the names of its
      contributors may be used to endorse or promote products derived from
      this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
"""

import rospy
import copy

from interactive_markers.interactive_marker_server import *
from interactive_markers.menu_handler import *
from visualization_msgs.msg import *
from geometry_msgs.msg import Point
from tf.broadcaster import TransformBroadcaster

import random
from math import sin

server = None
menu_handler = MenuHandler()
br = None
counter = 0

global nMark_
nMark_ = 0


def frameCallback(msg):
    global counter, br
    time = rospy.Time.now()
    br.sendTransform((0, 0, sin(counter / 140.0) * 2.0), (0, 0, 0, 1.0), time, "map", "moving_frame")
    counter += 1


def processFeedback(feedback):
    s = "Feedback from marker '" + feedback.marker_name
    s += "' / control '" + feedback.control_name + "'"

    mp = ""
    if feedback.mouse_point_valid:
        mp = " at " + str(feedback.mouse_point.x)
        mp += ", " + str(feedback.mouse_point.y)
        mp += ", " + str(feedback.mouse_point.z)
        mp += " in frame " + feedback.header.frame_id

    if feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
        rospy.loginfo(s + ": button click" + mp + ".")
    elif feedback.event_type == InteractiveMarkerFeedback.MENU_SELECT:
        rospy.loginfo(s + ": menu item " + str(feedback.menu_entry_id) + " clicked" + mp + ".")
    elif feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
        rospy.loginfo(s + ": pose changed")
    # TODO
    #          << "\nposition = "
    #          << feedback.pose.position.x
    #          << ", " << feedback.pose.position.y
    #          << ", " << feedback.pose.position.z
    #          << "\norientation = "
    #          << feedback.pose.orientation.w
    #          << ", " << feedback.pose.orientation.x
    #          << ", " << feedback.pose.orientation.y
    #          << ", " << feedback.pose.orientation.z
    #          << "\nframe: " << feedback.header.frame_id
    #          << " time: " << feedback.header.stamp.sec << "sec, "
    #          << feedback.header.stamp.nsec << " nsec" )
    elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_DOWN:
        rospy.loginfo(s + ": mouse down" + mp + ".")
    elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_UP:
        rospy.loginfo(s + ": mouse up" + mp + ".")
    server.applyChanges()




def makeBox(msg):
    marker = Marker()

    marker.type = Marker.CUBE
    marker.scale.x = msg.scale * 0.45
    marker.scale.y = msg.scale * 0.45
    marker.scale.z = msg.scale * 0.45
    marker.color.r = 0.5
    marker.color.g = 0.5
    marker.color.b = 0.5
    marker.color.a = 1.0

    return marker

def _markerLineStrip(msg):
    global nMark_
    markerLine = Marker()
    markerLine.type = Marker.LINE_STRIP
    markerLine.header.frame_id = "map"
    markerLine.ns = "lanes_edge"
    markerLine.action = Marker.ADD

    markerLine.id = nMark_
    nMark_ += 1


    markerLine.scale.x = 0.15
    markerLine.scale.y = 0.15
    markerLine.scale.z = 0.15

    markerLine.color.r = 1.0
    markerLine.color.g = 1.0
    markerLine.color.b = 0.0
    markerLine.color.a = 1.0
    markerLine.pose.orientation.x = 0.0
    markerLine.pose.orientation.y = 0.0
    markerLine.pose.orientation.z = 0.0
    markerLine.pose.orientation.w = 1.0
    markerLine.pose.position.x = 0.0
    markerLine.pose.position.y = 0.0
    markerLine.pose.position.z = 0.0
    markerLine.lifetime = rospy.Duration()
    for i in range(10):
        p = Point()
        p.x = i
        p.y = i
        markerLine.points.append(p)
    return markerLine

def _markerLineStrip22(msg):
    global nMark_
    markerLine = Marker()
    markerLine.type = Marker.LINE_STRIP
    markerLine.header.frame_id = "map"
    markerLine.ns = "lanes_edge"
    markerLine.action = Marker.ADD

    markerLine.id = nMark_
    nMark_ += 1


    markerLine.scale.x = 0.15
    markerLine.scale.y = 0.15
    markerLine.scale.z = 0.15

    markerLine.color.r = 1.0
    markerLine.color.g = 1.0
    markerLine.color.b = 0.0
    markerLine.color.a = 1.0
    markerLine.pose.orientation.x = 0.0
    markerLine.pose.orientation.y = 0.0
    markerLine.pose.orientation.z = 0.0
    markerLine.pose.orientation.w = 1.0
    markerLine.pose.position.x = 0.0
    markerLine.pose.position.y = 0.0
    markerLine.pose.position.z = 0.0
    markerLine.lifetime = rospy.Duration()

    return markerLine

def makeSomeLine():
    for nLine in range(10):
        line1 = _markerLineStrip22(None)
        for i in range(10):
            p = Point()
            a = random.randint(1, 10)
            b = random.randint(1, 10)
            p.x = a
            p.y = b
            p.z = 1

            line1.points.append(p)

        int_marker = InteractiveMarker()
        int_marker.header.frame_id = "map"
        # int_marker.pose.position = position
        int_marker.scale = 1
        name111 = str(nLine) + "context_menu"
        int_marker.name = name111
        # int_marker.description = "Context Menu\n(Right Click)"

        # make one control using default visuals
        control = InteractiveMarkerControl()
        control.interaction_mode = InteractiveMarkerControl.MENU
        # control.description = "Options"
        # control.name = "menu_only_control"
        # int_marker.controls.append(copy.deepcopy(control))
        control.always_visible = True
        control.markers.append(line1)
        int_marker.controls.append(control)

        server.insert(int_marker, processFeedback)
        menu_handler1 = MenuHandler()
        str1 = str(nLine) + "First Entry"
        menu_handler1.insert(str1, callback = processFeedback)
        menu_handler1.insert("Second Entry", callback = processFeedback)
        menu_handler1.apply(server, int_marker.name)



def normalizeQuaternion(quaternion_msg):
    norm = quaternion_msg.x ** 2 + quaternion_msg.y ** 2 + quaternion_msg.z ** 2 + quaternion_msg.w ** 2
    s = norm ** (-0.5)
    quaternion_msg.x *= s
    quaternion_msg.y *= s
    quaternion_msg.z *= s
    quaternion_msg.w *= s



def makeMenuMarker(position):
    menu_handler1 = MenuHandler()
    menu_handler1.insert("First Entry11", callback=processFeedback)
    menu_handler1.insert("Second Entry", callback=processFeedback)

    int_marker = InteractiveMarker()
    int_marker.header.frame_id = "map"
    int_marker.pose.position = position
    int_marker.scale = 1

    int_marker.name = "context_menu22"
    int_marker.description = "Context Menu\n(Right Click)"

    # make one control using default visuals
    control = InteractiveMarkerControl()
    control.interaction_mode = InteractiveMarkerControl.MENU
    control.description = "Options11"
    control.name = "menu_only_control11"
    int_marker.controls.append(copy.deepcopy(control))

    # make one control showing a box
    marker = makeBox(int_marker)
    control.markers.append(marker)
    control.always_visible = True
    int_marker.controls.append(control)

    server.insert(int_marker, processFeedback)
    menu_handler1.apply(server, int_marker.name)


def makeMenuMarker2(position):
    menu_handler2 = MenuHandler()
    menu_handler2.insert("First Entry 222", callback=processFeedback)
    menu_handler2.insert("Second Entry222", callback=processFeedback)

    int_marker = InteractiveMarker()
    int_marker.header.frame_id = "map"
    # int_marker.pose.position = position
    int_marker.scale = 1

    int_marker.name = "context_menu22"
    int_marker.description = "Context Menu\n(Right Click)"

    # make one control using default visuals
    control = InteractiveMarkerControl()
    control.interaction_mode = InteractiveMarkerControl.MENU
    control.description = "Options2222"
    control.name = "menu_only_control2222"
    int_marker.controls.append(copy.deepcopy(control))

    # make one control showing a box
    marker = _markerLineStrip(int_marker)
    control.markers.append(marker)
    control.always_visible = True
    int_marker.controls.append(control)

    server.insert(int_marker, processFeedback)
    menu_handler2.apply(server, int_marker.name)




if __name__ == "__main__":
    rospy.init_node("basic_controls")
    # br = TransformBroadcaster()

    # create a timer to update the published transforms
    rospy.Timer(rospy.Duration(0.01), frameCallback)

    server = InteractiveMarkerServer("basic_controls")

    # menu_handler.insert("First Entry", callback=processFeedback)
    # menu_handler.insert("Second Entry", callback=processFeedback)
    # sub_menu_handle = menu_handler.insert("Submenu")
    # menu_handler.insert("First Entry", parent=sub_menu_handle, callback=processFeedback)
    # menu_handler.insert("Second Entry", parent=sub_menu_handle, callback=processFeedback)


    # position = Point(3, -6, 0)
    # makeMenuMarker(position)
    # makeMenuMarker2(position)

    makeSomeLine()

    server.applyChanges()

    rospy.spin()