rviz学习笔记（二）——Markers: Points and Lines (C++) 点和线

一、在using_marker/src中编写点和线代码

vim ~/catkin_ws/src/using_marker/src/points_and_lines.cpp

　　编写代码，其中有注释

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

#include <cmath>

int main( int argc, char** argv )
{
  //创建一个发布器
  ros::init(argc, argv, "points_and_lines");
  ros::NodeHandle n;
  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 10);

  ros::Rate r(30);

  float f = 0.0;

  while (ros::ok())
  {

    visualization_msgs::Marker points, line_strip, line_list;

    //初始化
    points.header.frame_id = line_strip.header.frame_id = line_list.header.frame_id = "/my_frame";
    points.header.stamp = line_strip.header.stamp = line_list.header.stamp = ros::Time::now();
    points.ns = line_strip.ns = line_list.ns = "points_and_lines";
    points.action = line_strip.action = line_list.action = visualization_msgs::Marker::ADD;
    points.pose.orientation.w = line_strip.pose.orientation.w = line_list.pose.orientation.w = 1.0;


    //分配3个id
    points.id = 0;
    line_strip.id = 1;
    line_list.id = 2;


    //初始化形状
    points.type = visualization_msgs::Marker::POINTS;
    line_strip.type = visualization_msgs::Marker::LINE_STRIP;
    line_list.type = visualization_msgs::Marker::LINE_LIST;

    //初始化大小
    // POINTS markers use x and y scale for width/height respectively
    points.scale.x = 0.2;
    points.scale.y = 0.2;

    // LINE_STRIP/LINE_LIST markers use only the x component of scale, for the line width
    line_strip.scale.x = 0.1;
    line_list.scale.x = 0.1;

    //初始化颜色
    // Points are green
    points.color.g = 1.0f;
    points.color.a = 1.0;

    // Line strip is blue
    line_strip.color.b = 1.0;
    line_strip.color.a = 1.0;

    // Line list is red
    line_list.color.r = 1.0;
    line_list.color.a = 1.0;



    // Create the vertices for the points and lines
    for (uint32_t i = 0; i < 100; ++i)
    {
      float y = 5 * sin(f + i / 100.0f * 2 * M_PI);
      float z = 5 * cos(f + i / 100.0f * 2 * M_PI);

      geometry_msgs::Point p;
      p.x = (int32_t)i - 50;
      p.y = y;
      p.z = z;

      points.points.push_back(p);
      line_strip.points.push_back(p);

      // The line list needs two points for each line
      line_list.points.push_back(p);
      p.z += 1.0;
      line_list.points.push_back(p);
    }


    marker_pub.publish(points);
    marker_pub.publish(line_strip);
    marker_pub.publish(line_list);

    r.sleep();

    f += 0.04;
  }
}

　　在CMakeLists.txt中添加

add_executable(points_and_lines src/points_and_lines.cpp)
target_link_libraries(points_and_lines ${catkin_LIBRARIES})

二、编译工程

cd ~/catkin_ws
catkin_make

三、测试

1、运行编写的发布器

rosrun using_markers points_and_lines

2、运行rviz进行设置

rosrun rviz rviz

3、运行结果