• 可交互的Marker


    #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


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  • 原文地址:https://www.cnblogs.com/Montauk/p/6861185.html
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