Markers: Sending Basic Shapes (C++)
--------------------------- 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)