Go to the documentation of this file.00001
00002
00003 import roslib; roslib.load_manifest('visualization_marker_tutorials')
00004 from visualization_msgs.msg import Marker
00005 from visualization_msgs.msg import MarkerArray
00006 import rospy
00007 import math
00008
00009 topic = 'visualization_marker_array'
00010 publisher = rospy.Publisher(topic, MarkerArray)
00011
00012 rospy.init_node('register')
00013
00014 markerArray = MarkerArray()
00015
00016 count = 0
00017 MARKERS_MAX = 100
00018
00019 while not rospy.is_shutdown():
00020
00021 marker = Marker()
00022 marker.header.frame_id = "/base_link"
00023 marker.type = marker.SPHERE
00024 marker.action = marker.ADD
00025 marker.scale.x = 0.2
00026 marker.scale.y = 0.2
00027 marker.scale.z = 0.2
00028 marker.color.a = 1.0
00029 marker.color.r = 1.0
00030 marker.color.g = 1.0
00031 marker.color.b = 0.0
00032 marker.pose.orientation.w = 1.0
00033 marker.pose.position.x = math.cos(count / 50.0)
00034 marker.pose.position.y = math.cos(count / 40.0)
00035 marker.pose.position.z = math.cos(count / 30.0)
00036
00037
00038 if(count > MARKERS_MAX):
00039 markerArray.markers.pop(0)
00040
00041 markerArray.markers.append(marker)
00042
00043
00044 id = 0
00045 for m in markerArray.markers:
00046 m.id = id
00047 id += 1
00048
00049
00050 publisher.publish(markerArray)
00051
00052 count += 1
00053
00054 rospy.sleep(0.01)