marker主题 ros_rviz/DisplayTypes/Marker

The Markers display allows programmatic addition of various primitive shapes to the 3D view by sending a visualization_msgs/Marker or visualization_msgs/MarkerArray message.

The Markers: Basic Shapes tutorial begins a series of tutorials on sending markers.

Properties

Name

Description

Valid Values

Default

Topic

The topic to subscribe to. Will automatically also subscribe to _array, assuming it is a visualization_msgs/MarkerArray topic

visualization_marker

The Marker Message

Example Usage (C++/roscpp)

First, advertise on the visualization_marker topic:

ros::Publisher vis_pub = node_handle.advertise<:marker>( "visualization_marker", 0 );

After that it's as simple as filling out a visualization_msgs/Marker message and publishing it:

visualization_msgs::Marker marker;

marker.header.frame_id = "base_link";

marker.header.stamp = ros::Time();

marker.ns = "my_namespace";

marker.id = 0;

marker.type = visualization_msgs::Marker::SPHERE;

marker.action = visualization_msgs::Marker::ADD;

marker.pose.position.x = 1;

marker.pose.position.y = 1;

marker.pose.position.z = 1;

marker.pose.orientation.x = 0.0;

marker.pose.orientation.y = 0.0;

marker.pose.orientation.z = 0.0;

marker.pose.orientation.w = 1.0;

marker.scale.x = 1;

marker.scale.y = 0.1;

marker.scale.z = 0.1;

marker.color.a = 1.0; // Don't forget to set the alpha!

marker.color.r = 0.0;

marker.color.g = 1.0;

marker.color.b = 0.0;

//only if using a MESH_RESOURCE marker type:

marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";

vis_pub.publish( marker );

There is also a visualization_msgs/MarkerArray message, which lets you publish many markers at once. In this case you want to publish in the visualization_marker_array topic.

Note that the timest