marker_array_test.py
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00001 #!/usr/bin/env python
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    # We add the new marker to the MarkerArray, removing the oldest marker from it when necessary
00038    if(count > MARKERS_MAX):
00039        markerArray.markers.pop(0)
00040 
00041    markerArray.markers.append(marker)
00042 
00043    # Renumber the marker IDs
00044    id = 0
00045    for m in markerArray.markers:
00046        m.id = id
00047        id += 1
00048 
00049    # Publish the MarkerArray
00050    publisher.publish(markerArray)
00051 
00052    count += 1
00053 
00054    rospy.sleep(0.01)


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32