ROS进阶学习手记 3 -- RViz工具的学习2，Markers: Sending Basic Shapes

Markers: Sending Basic Shapes (C++)

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       我是从这里开始：http://wiki.ros.org/rviz
           在它之下，先玩完这一部分：http://wiki.ros.org/rviz/UserGuide 

           今天要玩这一部分： http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes

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Description: Shows how to use visualization_msgs/Marker messages to send basic shapes (cube, sphere, cylinder, arrow) to rviz.

2. Intro

Unlike other displays, the Marker Display lets you visualize data in rviz without rviz knowing anything about interpreting that data. Instead, primitive objects are sent to the display throughvisualization_msgs/Marker messages, which let you show things like arrows, boxes, spheres and lines.

This tutorial will show you how to send the four basic shapes (boxes, spheres, cylinders, and arrows). We'll create a program that sends out a new marker every second, replacing the last one with a different shape.

3. Create a Scratch Package

Before getting started, let's create a scratch package to calledusing_markers, somewherein your package path:(exbot@ubuntu:~/catkin_ws/src)