[marker]Rviz可视化

Rviz可视化

重点

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

marker.header.frame_id = "/my_frame";
marker.header.stamp = ros::Time::now;
marker.ns = "basic_shapes";
marker.id = 0;
marker.type = shape;
marker.action = visualization_msgs::Marker::ADD;
marker.pose.position;
marker.pose.orientation;
marker.scale;
marker.color;
marker.lifetime = ros::Duration();

//一个swtich
shape = visualizatino_msgs::Marker::CUBE;

// %Tag(FULLTEXT)%
// %Tag(INCLUDES)%
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
// %EndTag(INCLUDES)%

// %Tag(INIT)%
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);
// %EndTag(INIT)%

  // Set our initial shape type to be a cube
// %Tag(SHAPE_INIT)%
  uint32_t shape = visualization_msgs::Marker::CUBE;
// %EndTag(SHAPE_INIT)%

// %Tag(MARKER_INIT)%
  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();
// %EndTag(MARKER_INIT)%

    // 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
// %Tag(NS_ID)%
    marker.ns = "basic_shapes";
    marker.id = 0;
// %EndTag(NS_ID)%

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
// %Tag(TYPE)%
    marker.type = shape;
// %EndTag(TYPE)%

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

    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
// %Tag(POSE)%
    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;
// %EndTag(POSE)%

    // Set the scale of the marker -- 1x1x1 here means 1m on a side
// %Tag(SCALE)%
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;
// %EndTag(SCALE)%

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

// %Tag(LIFETIME)%
    marker.lifetime = ros::Duration();
// %EndTag(LIFETIME)%

    // Publish the marker
// %Tag(PUBLISH)%
    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);
// %EndTag(PUBLISH)%

    // Cycle between different shapes
// %Tag(CYCLE_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;
    }
// %EndTag(CYCLE_SHAPES)%

// %Tag(SLEEP_END)%
    r.sleep();
  }
// %EndTag(SLEEP_END)%
}
// %EndTag(FULLTEXT)%

visualization_msgs/Marker Message
File: visualization_msgs/Marker.msg
Raw Message Definition
See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11

uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2
uint8 DELETEALL=3

Header header                        # header for time/frame information
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object
int32 id                           # object ID useful in conjunction with the namespace for manipulating and deleting the object later
int32 type                         # Type of object
int32 action                         # 0 add/modify an object, 1 (deprecated), 2 deletes an object, 3 deletes all objects
geometry_msgs/Pose pose                 # Pose of the object
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color             # Color [0.0-1.0]
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

# Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points
# Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
# number of colors must either be 0 or equal to the number of points
# NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials

Compact Message Definition

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11
uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2
uint8 DELETEALL=3
std_msgs/Header header
string ns
int32 id
int32 type
int32 action
geometry_msgs/Pose pose
geometry_msgs/Vector3 scale
std_msgs/ColorRGBA color
duration lifetime
bool frame_locked
geometry_msgs/Point[] points
std_msgs/ColorRGBA[] colors
string text
string mesh_resource
bool mesh_use_embedded_materials