point_cloud.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00031 // %Tag(fullSource)%
00032 #include <math.h>
00033 
00034 #include <ros/ros.h>
00035 
00036 #include <interactive_markers/interactive_marker_server.h>
00037 
00038 namespace vm = visualization_msgs;
00039 
00040 void processFeedback( const vm::InteractiveMarkerFeedbackConstPtr &feedback )
00041 {
00042   uint8_t type = feedback->event_type;
00043 
00044   if( type == vm::InteractiveMarkerFeedback::BUTTON_CLICK ||
00045       type == vm::InteractiveMarkerFeedback::MOUSE_DOWN ||
00046       type == vm::InteractiveMarkerFeedback::MOUSE_UP )
00047   {
00048     const char* type_str = (type == vm::InteractiveMarkerFeedback::BUTTON_CLICK ? "button click" :
00049                             (type == vm::InteractiveMarkerFeedback::MOUSE_DOWN ? "mouse down" : "mouse up"));
00050 
00051     if( feedback->mouse_point_valid )
00052     {
00053       ROS_INFO( "%s at %f, %f, %f in frame %s",
00054                 type_str,
00055                 feedback->mouse_point.x, feedback->mouse_point.y, feedback->mouse_point.z,
00056                 feedback->header.frame_id.c_str() );
00057     }
00058     else
00059     {
00060       ROS_INFO( "%s", type_str );
00061     }
00062   }
00063   else if( type == vm::InteractiveMarkerFeedback::POSE_UPDATE )
00064   {
00065     ROS_INFO_STREAM( feedback->marker_name << " is now at "
00066                      << feedback->pose.position.x << ", " << feedback->pose.position.y
00067                      << ", " << feedback->pose.position.z );
00068   }
00069 }
00070 
00071 void makePoints( std::vector<geometry_msgs::Point>& points_out, int num_points )
00072 {
00073   double radius = 3;
00074   points_out.resize(num_points);
00075   for( int i = 0; i < num_points; i++ )
00076   {
00077     double angle = (i / (double) num_points * 50 * M_PI);
00078     double height = (i / (double) num_points * 10);
00079     points_out[i].x = radius * cos( angle );
00080     points_out[i].y = radius * sin( angle );
00081     points_out[i].z = height;
00082   }
00083 }
00084 
00085 vm::InteractiveMarker makeMarker( std::string name, std::string description, int32_t type, float x, int num_points = 10000, float scale = 0.1f )
00086 {
00087   // create an interactive marker for our server
00088   vm::InteractiveMarker int_marker;
00089   int_marker.header.frame_id = "/base_link";
00090   int_marker.name = name;
00091   int_marker.description = description;
00092 
00093   // create a point cloud marker
00094   vm::Marker points_marker;
00095   points_marker.type = type;
00096   points_marker.scale.x = scale;
00097   points_marker.scale.y = scale;
00098   points_marker.scale.z = scale;
00099   points_marker.color.r = 0.5;
00100   points_marker.color.g = 0.5;
00101   points_marker.color.b = 0.5;
00102   points_marker.color.a = 1.0;
00103   makePoints( points_marker.points, num_points );
00104 
00105   // create a control which contains the point cloud which acts like a button.
00106   vm::InteractiveMarkerControl points_control;
00107   points_control.always_visible = true;
00108   points_control.interaction_mode = vm::InteractiveMarkerControl::BUTTON;
00109   points_control.markers.push_back( points_marker );
00110 
00111   // add the control to the interactive marker
00112   int_marker.controls.push_back( points_control );
00113 
00114   // create a control which will move the box
00115   // this control does not contain any markers,
00116   // which will cause RViz to insert two arrows
00117   vm::InteractiveMarkerControl rotate_control;
00118   rotate_control.name = "move_x";
00119   rotate_control.interaction_mode =
00120       vm::InteractiveMarkerControl::MOVE_AXIS;
00121 
00122   // add the control to the interactive marker
00123   int_marker.controls.push_back(rotate_control);
00124 
00125   int_marker.pose.position.x = x;
00126 
00127   return int_marker;
00128 }
00129 
00130 int main(int argc, char** argv)
00131 {
00132   ros::init(argc, argv, "point_cloud");
00133 
00134   // create an interactive marker server on the topic namespace simple_marker
00135   interactive_markers::InteractiveMarkerServer server("point_cloud");
00136 
00137   server.insert(makeMarker("points", "Points marker", vm::Marker::POINTS, 0), &processFeedback);
00138   // LINE_STRIP and LINE_LIST are not actually selectable, and they won't highlight or detect mouse clicks like the others (yet).
00139   server.insert(makeMarker("line_strip", "Line Strip marker", vm::Marker::LINE_STRIP, 10, 1000), &processFeedback);
00140   server.insert(makeMarker("line_list", "Line List marker", vm::Marker::LINE_LIST, 20), &processFeedback);
00141   server.insert(makeMarker("cube_list", "Cube List marker", vm::Marker::CUBE_LIST, 30), &processFeedback);
00142   server.insert(makeMarker("sphere_list", "Sphere List marker", vm::Marker::SPHERE_LIST, 40), &processFeedback);
00143   server.insert(makeMarker("triangle_list", "Triangle List marker", vm::Marker::TRIANGLE_LIST, 50, 201, 1.0f), &processFeedback);
00144 
00145   // 'commit' changes and send to all clients
00146   server.applyChanges();
00147 
00148   // start the ROS main loop
00149   ros::spin();
00150 }
00151 // %Tag(fullSource)%


interactive_marker_tutorials
Author(s): David Gossow
autogenerated on Sat Dec 28 2013 17:47:29