#include <ros/ros.h> #include <interactive_markers/interactive_marker_server.h> //回调 void processFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback){ // 打印当前的位置。 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){ //初始化节点, 名字叫simple_marker ros::init(argc, argv, "simple_marker"); // create an interactive marker server on the topic namespace simple_marker // 创建一个可交互的服务器. interactive_markers::InteractiveMarkerServer server("simple_marker"); // create an interactive marker for our server // 创建一个可交互的Marker, 对象名int_marker visualization_msgs::InteractiveMarker int_marker; // 配置inter_marker的基础信息 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 // 被控制的对象是一个灰色的marker visualization_msgs::Marker box_marker; // box_marker是个立方体. 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 // 创建一个控制器 visualization_msgs::InteractiveMarkerControl box_control; box_control.always_visible = true; box_control.markers.push_back( box_marker ); // 把这个控制器加到int_marking的控制矢量中. // add the control to the interactive marker int_marker.controls.push_back( box_control ); // 创建一个角度控制器, 这个控制器不包含图形, 但是rviz会加两个箭头, 交互模式为移动x轴 // 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; // 把这个控制器也放inter_maker的控制矢量中. // add the control to the interactive marker int_marker.controls.push_back(rotate_control); // 绑定回调, 并插入服务器中. // add the interactive marker to our collection & // tell the server to call processFeedback() when feedback arrives for it server.insert(int_marker, &processFeedback); // 提交变更 // 'commit' changes and send to all clients server.applyChanges(); // 启动节点. // start the ROS main loop ros::spin(); }
使用rostopic echo /simple_marker/feedback可以看到数据包:
---
header:
seq: 1823
stamp:
secs: 0
nsecs: 0
frame_id: base_link
client_id: /rviz_1494901834015798500/
marker_name: my_marker
control_name: move_x
event_type: 5
pose:
position:
x: 0.420606017113
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
menu_entry_id: 0
mouse_point:
x: 1.04800105095
y: 0.0712747573853
z: 0.0290296077728
mouse_point_valid: True