Rviz教程（五）：Interactive Markers: Writing a Simple Interactive Marker Server

Interactive Markers: Writing a Simple Interactive Marker Server

Description:  This tutorial explains how to setup a minimalist server which manages a single interactive marker.

Tutorial Level:  BEGINNER

Next Tutorial:   Interactive Markers: Basic Controls  

目录

1. The simple_marker tutorial explained

The simple_marker tutorial explained

If you run the simple_marker example from interactive_marker_tutorials as described in the previous tutorial, you will see this in RViz:

It shows the single interactive marker provided by the server node. Click on the arrow to move the box. What you will also see is that the server node prints out the current position of the marker each time you change it in RViz.

This is the code of the server node:

https://raw.githubusercontent.com/ros-visualization/visualization_tutorials/indigo-devel/interactive_marker_tutorials/src/simple_marker.cpp

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#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>

void processFeedback(
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO_STREAM( feedback->marker_name << " is now at "
      << feedback->pose.position.x << ", " << feedback->pose.position.y
      << ", " << feedback->pose.position.z );
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "simple_marker");

  // create an interactive marker server on the topic namespace simple_marker
  interactive_markers::InteractiveMarkerServer server("simple_marker");

  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.header.stamp=ros::Time::now();
  int_marker.name = "my_marker";
  int_marker.description = "Simple 1-DOF Control";

  // create a grey box marker
  visualization_msgs::Marker box_marker;
  box_marker.type = visualization_msgs::Marker::CUBE;
  box_marker.scale.x = 0.45;
  box_marker.scale.y = 0.45;
  box_marker.scale.z = 0.45;
  box_marker.color.r = 0.5;
  box_marker.color.g = 0.5;
  box_marker.color.b = 0.5;
  box_marker.color.a = 1.0;

  // create a non-interactive control which contains the box
  visualization_msgs::InteractiveMarkerControl box_control;
  box_control.always_visible = true;
  box_control.markers.push_back( box_marker );

  // add the control to the interactive marker
  int_marker.controls.push_back( box_control );

  // create a control which will move the box
  // this control does not contain any markers,
  // which will cause RViz to insert two arrows
  visualization_msgs::InteractiveMarkerControl rotate_control;
  rotate_control.name = "move_x";
  rotate_control.interaction_mode =
      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;

  // add the control to the interactive marker
  int_marker.controls.push_back(rotate_control);

  // add the interactive marker to our collection &
  // tell the server to call processFeedback() when feedback arrives for it
  server.insert(int_marker, &processFeedback);

  // 'commit' changes and send to all clients
  server.applyChanges();

  // start the ROS main loop
  ros::spin();
}

What this does is the following:

• Define a function processFeedback which handles feedback messages from RViz by printing out the position.

• Initialize roscpp.
• Create an interactive marker server object.
• Setup the interactive marker and add it to the server's collection.
• Enter the ROS message loop.

Note that when calling insert, the server object will internally only push the new marker onto a waiting list. Once you call applyChanges, it will incorporate it into it's publicly visible set of interactive markers and send it to all connected clients.

That's all there is. You are now ready to go on to the next tutorial: Interactive Markers: Basic Controls.