1. 描述
记录一下 MarkerArray 的使用
2. 代码
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <iostream>
#include <math.h>
#include <cmath>
using namespace std;
ros::Publisher marker_array_pub;
int main(int argc,char **argv)
{
ros::init(argc,argv,"bpearl_perception");
ros::NodeHandle node;
ROS_INFO("bpearl perception init...");
marker_array_pub = node.advertise<visualization_msgs::MarkerArray>("/visualization_marker_array", 10);
ros::Rate r(1);
visualization_msgs::MarkerArray marker_array;
while (ros::ok())
{
marker_array.markers.clear();
visualization_msgs::Marker bbox_marker;
bbox_marker.header.frame_id = "/marker_frame";
bbox_marker.header.stamp = ros::Time::now();
bbox_marker.ns = "basic_shapes";
bbox_marker.lifetime = ros::Duration();
bbox_marker.frame_locked = true;
bbox_marker.type = visualization_msgs::Marker::CUBE;
bbox_marker.action = visualization_msgs::Marker::ADD;
int marker_id = 0;
int marker_nums = 3;
for (size_t i = 0; i < marker_nums; ++i)
{
if(marker_id == 0){
bbox_marker.id = marker_id;
bbox_marker.color.r = 1.0f;
bbox_marker.color.g = 0.0f;
bbox_marker.color.b = 0.0f;
bbox_marker.color.a = 1.0;
bbox_marker.pose.position.x = 1.0;
bbox_marker.pose.position.y = 0;
bbox_marker.pose.position.z = 0;
bbox_marker.scale.x = 0.25;
bbox_marker.scale.y = 0.25;
bbox_marker.scale.z = 0.25;
}else if(marker_id == 1){
bbox_marker.id = marker_id;
bbox_marker.color.r = 0.0f;
bbox_marker.color.g = 1.0f;
bbox_marker.color.b = 0.0f;
bbox_marker.color.a = 1.0;
bbox_marker.pose.position.x = 0.0;
bbox_marker.pose.position.y = 2.0;
bbox_marker.pose.position.z = 0;
bbox_marker.scale.x = 0.25;
bbox_marker.scale.y = 0.25;
bbox_marker.scale.z = 0.25;
}else if(marker_id == 2){
bbox_marker.id = marker_id;
bbox_marker.color.r = 0.0f;
bbox_marker.color.g = 0.0f;
bbox_marker.color.b = 1.0f;
bbox_marker.color.a = 1.0;
bbox_marker.pose.position.x = 0.0;
bbox_marker.pose.position.y = 0.0;
bbox_marker.pose.position.z = 3.0;
bbox_marker.scale.x = 0.25;
bbox_marker.scale.y = 0.25;
bbox_marker.scale.z = 0.25;
}
marker_array.markers.push_back(bbox_marker);
++marker_id;
}
marker_array_pub.publish(marker_array);
r.sleep();
}
ros::spin();
return 0;
}