rviz_visual_tools::RvizVisualTools Class Reference

#include <rviz_visual_tools.h>

Public Member Functions
std_msgs::ColorRGBA	createRandColor () const
	Create a random color that is not too light. More...
bool	deleteAllMarkers ()
	Tell Rviz to clear all markers on a particular display. More...
void	enableBatchPublishing (bool enable=true)
	Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with trigger() is called. More...
void	enableFrameLocking (bool enable=true)
	Enable frame locking - useful for when the markers is attached to a moving TF, the marker will be re-transformed into its frame every time-step. More...
const std::string	getBaseFrame () const
	Get the base frame. More...
Eigen::Vector3d	getCenterPoint (const Eigen::Vector3d &a, const Eigen::Vector3d &b) const
	Find the center between to points. More...
std_msgs::ColorRGBA	getColor (colors color) const
	Get the RGB value of standard colors. More...
std_msgs::ColorRGBA	getColorScale (double value) const
	Convert a value from [0,1] to a color Green->Red. More...
double	getGlobalScale () const
	Getter for the global scale used for changing size of all markers. More...
bool	getPsychedelicMode () const
	Getter for PsychedelicMode. More...
RemoteControlPtr &	getRemoteControl ()
	Ability to load remote control on the fly. More...
geometry_msgs::Vector3	getScale (scales scale, double marker_scale=1.0) const
	Get the rviz marker scale of standard sizes. More...
Eigen::Isometry3d	getVectorBetweenPoints (const Eigen::Vector3d &a, const Eigen::Vector3d &b) const
	Create a vector that points from point a to point b. More...
void	loadMarkerPub (bool wait_for_subscriber=false, bool latched=false)
	Load publishers as needed. More...
void	loadRemoteControl ()
	Pre-load remote control. More...
bool	loadRvizMarkers ()
	Pre-load rviz markers for better efficiency. More...
void	prompt (const std::string &msg)
	Wait for user feedback i.e. through a button or joystick. More...
bool	publishArrow (const Eigen::Isometry3d &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
	Display an arrow along the x-axis of a pose. More...
bool	publishArrow (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
bool	publishArrow (const geometry_msgs::Point &start, const geometry_msgs::Point &end, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0)
bool	publishAxis (const geometry_msgs::Pose &pose, scales scale=MEDIUM, const std::string &ns="Axis")
	Display a red/green/blue coordinate frame axis. More...
bool	publishAxis (const Eigen::Isometry3d &pose, scales scale=MEDIUM, const std::string &ns="Axis")
bool	publishAxis (const geometry_msgs::Pose &pose, double length, double radius=0.01, const std::string &ns="Axis")
bool	publishAxis (const Eigen::Isometry3d &pose, double length, double radius=0.01, const std::string &ns="Axis")
bool	publishAxisLabeled (const Eigen::Isometry3d &pose, const std::string &label, scales scale=MEDIUM, colors color=WHITE)
	Display a marker of a coordinate frame axis with a text label describing it. More...
bool	publishAxisLabeled (const geometry_msgs::Pose &pose, const std::string &label, scales scale=MEDIUM, colors color=WHITE)
bool	publishAxisPath (const EigenSTL::vector_Isometry3d &path, scales scale=MEDIUM, const std::string &ns="Axis Path")
	Display a series of red/green/blue coordinate axis along a path. More...
bool	publishAxisPath (const EigenSTL::vector_Isometry3d &path, double length=0.1, double radius=0.01, const std::string &ns="Axis Path")
bool	publishCone (const Eigen::Isometry3d &pose, double angle, colors color=TRANSLUCENT, double scale=1.0)
	Display a cone of a given angle along the x-axis. More...
bool	publishCone (const geometry_msgs::Pose &pose, double angle, colors color=TRANSLUCENT, double scale=1.0)
bool	publishCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE)
	Display a rectangular cuboid. More...
bool	publishCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, colors color=BLUE, const std::string &ns="Cuboid", std::size_t id=0)
bool	publishCuboid (const geometry_msgs::Pose &pose, double depth, double width, double height, colors color=BLUE)
	Display a rectangular cuboid. More...
bool	publishCuboid (const Eigen::Isometry3d &pose, double depth, double width, double height, colors color=BLUE)
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Cylinder")
	Display a marker of a cylinder. More...
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const Eigen::Isometry3d &pose, colors color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
	Display a marker of a cylinder. More...
bool	publishCylinder (const geometry_msgs::Pose &pose, colors color=BLUE, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishCylinder (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, double height=0.1, double radius=0.01, const std::string &ns="Cylinder")
bool	publishGraph (const graph_msgs::GeometryGraph &graph, colors color, double radius)
	Display a graph. More...
bool	publishLine (const Eigen::Isometry3d &point1, const Eigen::Isometry3d &point2, colors color=BLUE, scales scale=MEDIUM)
	Display a marker of line. More...
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color=BLUE, scales scale=MEDIUM)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color, double radius)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)
bool	publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, colors color=BLUE, scales scale=MEDIUM)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM)
bool	publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 &scale)
bool	publishLines (const EigenSTL::vector_Vector3d &aPoints, const EigenSTL::vector_Vector3d &bPoints, const std::vector< colors > &colors, scales scale=MEDIUM)
	Display a marker of lines. More...
bool	publishLines (const std::vector< geometry_msgs::Point > &aPoints, const std::vector< geometry_msgs::Point > &bPoints, const std::vector< std_msgs::ColorRGBA > &colors, const geometry_msgs::Vector3 &scale)
bool	publishLineStrip (const std::vector< geometry_msgs::Point > &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
	Display a series of connected lines using the LINE_STRIP method - deprecated because visual bugs. More...
bool	publishMarker (visualization_msgs::Marker &marker)
	Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher. More...
bool	publishMarkers (visualization_msgs::MarkerArray &markers)
	Display an array of markers, allows reuse of the ROS publisher. More...
bool	publishMesh (const Eigen::Isometry3d &pose, const std::string &file_name, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0)
	Display a mesh from file. More...
bool	publishMesh (const geometry_msgs::Pose &pose, const std::string &file_name, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0)
bool	publishPath (const std::vector< geometry_msgs::Pose > &path, colors color=RED, scales scale=MEDIUM, const std::string &ns="Path")
	Display a marker of a series of connected cylinders. More...
bool	publishPath (const std::vector< geometry_msgs::Point > &path, colors color, scales scale, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Isometry3d &path, colors color, scales scale, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, colors color, scales scale, const std::string &ns="Path")
bool	publishPath (const std::vector< geometry_msgs::Point > &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Isometry3d &path, colors color=RED, double radius=0.01, const std::string &ns="Path")
bool	publishPath (const EigenSTL::vector_Vector3d &path, const std::vector< colors > &colors, double radius=0.01, const std::string &ns="Path")
	Display a marker of a series of connected colored cylinders. More...
bool	publishPath (const EigenSTL::vector_Vector3d &path, const std::vector< std_msgs::ColorRGBA > &colors, double radius, const std::string &ns="Path")
bool	publishPolygon (const geometry_msgs::Polygon &polygon, colors color=RED, scales scale=MEDIUM, const std::string &ns="Polygon")
	Display a marker of a polygon. More...
bool	publishSphere (const Eigen::Isometry3d &pose, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
	Display a marker of a sphere. More...
bool	publishSphere (const Eigen::Vector3d &point, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Vector3d &point, colors color, double scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Point &point, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color, double scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, colors color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Isometry3d &pose, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const Eigen::Vector3d &point, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSphere (const geometry_msgs::PoseStamped &pose, colors color, const geometry_msgs::Vector3 scale, const std::string &ns="Sphere", std::size_t id=0)
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Spheres")
	Display a marker of a series of spheres. More...
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, colors color, double scale=0.1, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color=BLUE, scales scale=MEDIUM, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color=BLUE, double scale=0.1, const std::string &ns="Spheres")
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, colors color, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
bool	publishSpheres (const EigenSTL::vector_Vector3d &points, const std::vector< colors > &colors, scales scale=MEDIUM, const std::string &ns="Spheres")
	Display a marker of a series of spheres, with the possibility of different colors. More...
bool	publishSpheres (const std::vector< geometry_msgs::Point > &points, const std::vector< std_msgs::ColorRGBA > &colors, const geometry_msgs::Vector3 &scale, const std::string &ns="Spheres")
bool	publishText (const Eigen::Isometry3d &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)
	Display a marker of a text. More...
bool	publishText (const Eigen::Isometry3d &pose, const std::string &text, colors color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, colors color=WHITE, scales scale=MEDIUM, bool static_id=true)
bool	publishText (const geometry_msgs::Pose &pose, const std::string &text, colors color, const geometry_msgs::Vector3 scale, bool static_id=true)
bool	publishWireframeCuboid (const Eigen::Isometry3d &pose, double depth, double width, double height, colors color=BLUE, const std::string &ns="Wireframe Cuboid", std::size_t id=0)
	Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box. More...
bool	publishWireframeCuboid (const Eigen::Isometry3d &pose, const Eigen::Vector3d &min_point, const Eigen::Vector3d &max_point, colors color=BLUE, const std::string &ns="Wireframe Cuboid", std::size_t id=0)
	Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box. More...
bool	publishWireframeRectangle (const Eigen::Isometry3d &pose, double height, double width, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0)
	Publish outline of a rectangle. More...
bool	publishWireframeRectangle (const Eigen::Isometry3d &pose, const Eigen::Vector3d &p1_in, const Eigen::Vector3d &p2_in, const Eigen::Vector3d &p3_in, const Eigen::Vector3d &p4_in, colors color, scales scale)
bool	publishXArrow (const Eigen::Isometry3d &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
	Display an arrow along the x-axis of a pose. More...
bool	publishXArrow (const geometry_msgs::Pose &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
bool	publishXArrow (const geometry_msgs::PoseStamped &pose, colors color=RED, scales scale=MEDIUM, double length=0.0)
bool	publishXYPlane (const Eigen::Isometry3d &pose, colors color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose. More...
bool	publishXYPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishXZPlane (const Eigen::Isometry3d &pose, colors color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose. More...
bool	publishXZPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishYArrow (const Eigen::Isometry3d &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
	Display an arrow along the y-axis of a pose. More...
bool	publishYArrow (const geometry_msgs::Pose &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
bool	publishYArrow (const geometry_msgs::PoseStamped &pose, colors color=GREEN, scales scale=MEDIUM, double length=0.0)
bool	publishYZPlane (const Eigen::Isometry3d &pose, colors color=TRANSLUCENT, double scale=1.0)
	Display the XY plane of a given pose. More...
bool	publishYZPlane (const geometry_msgs::Pose &pose, colors color=TRANSLUCENT, double scale=1.0)
bool	publishZArrow (const Eigen::Isometry3d &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
	Display an arrow along the z-axis of a pose. More...
bool	publishZArrow (const geometry_msgs::Pose &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0)
bool	publishZArrow (const geometry_msgs::PoseStamped &pose, colors color=BLUE, scales scale=MEDIUM, double length=0.0, std::size_t id=0)
void	resetMarkerCounts ()
	Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers() More...
	RvizVisualTools (std::string base_frame, std::string marker_topic=RVIZ_MARKER_TOPIC, ros::NodeHandle nh=ros::NodeHandle("~"))
	Constructor. More...
void	setAlpha (double alpha)
	Change the transparency of all markers published. More...
void	setBaseFrame (const std::string &base_frame)
	Change the global base frame Note: this might reset all your current markers. More...
void	setGlobalScale (double global_scale)
	Setter for the global scale used for changing size of all markers. More...
void	setLifetime (double lifetime)
	Set the lifetime of markers published to rviz. More...
void	setMarkerTopic (const std::string &topic)
	Set marker array topic. More...
void	setPsychedelicMode (bool psychedelic_mode=true)
	Setter for PsychedelicMode. More...
bool	trigger ()
	Trigger the publish function to send out all collected markers. More...
bool	triggerEvery (std::size_t queueSize)
	Trigger the publish function to send out all collected markers IF there are at leats queueSize number of markers ready to be published. a * Warning: when using this in a loop be sure to call trigger() at end of loop in case there are any remainder markers in the queue. More...
void	waitForMarkerPub ()
	Optional blocking function to call after calling loadMarkerPub(). Allows you to do some intermediate processing before wasting cycles waiting for the marker pub to find a subscriber. More...
void	waitForMarkerPub (double wait_time)
bool	waitForSubscriber (const ros::Publisher &pub, double wait_time=0.5, bool blocking=false)
	Wait until at least one subscriber connects to a publisher. More...
	~RvizVisualTools ()
	Deconstructor. More...

Static Public Member Functions
static Eigen::Isometry3d	convertFromXYZRPY (double tx, double ty, double tz, double rx, double ry, double rz, EulerConvention convention)
	Converts scalar translations and rotations to an Eigen Frame. This is achieved by chaining a translation with individual euler rotations in ZYX order (this is equivalent to fixed rotatins XYZ) http://en.wikipedia.org/wiki/Euler_angles#Conversion_between_intrinsic_and_extrinsic_rotations Euler conversion code sourced from Descartes, Copyright (c) 2014, Southwest Research Institute. More...
static Eigen::Isometry3d	convertFromXYZRPY (const std::vector< double > &transform6, EulerConvention convention)
static Eigen::Vector3d	convertPoint (const geometry_msgs::Point &point)
	Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient. More...
static geometry_msgs::Point	convertPoint (const geometry_msgs::Vector3 &point)
	Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient. More...
static geometry_msgs::Point	convertPoint (const Eigen::Vector3d &point)
	Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient. More...
static Eigen::Vector3d	convertPoint32 (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient. More...
static geometry_msgs::Point32	convertPoint32 (const Eigen::Vector3d &point)
	Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient. More...
static Eigen::Isometry3d	convertPoint32ToPose (const geometry_msgs::Point32 &point)
	Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient. More...
static geometry_msgs::Pose	convertPointToPose (const geometry_msgs::Point &point)
	Add an identity rotation matrix to make a point have a full pose. More...
static Eigen::Isometry3d	convertPointToPose (const Eigen::Vector3d &point)
static geometry_msgs::Pose	convertPose (const Eigen::Isometry3d &pose)
	Convert an Eigen pose to a geometry_msg pose. More...
static Eigen::Isometry3d	convertPose (const geometry_msgs::Pose &pose)
	Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient. More...
static void	convertPoseSafe (const Eigen::Isometry3d &pose, geometry_msgs::Pose &pose_msg)
	Convert an Eigen pose to a geometry_msg pose - thread safe. More...
static void	convertPoseSafe (const geometry_msgs::Pose &pose_msg, Eigen::Isometry3d &pose)
	Convert a geometry_msg pose to an Eigen pose - thread safe. More...
static geometry_msgs::Point	convertPoseToPoint (const Eigen::Isometry3d &pose)
	Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient. More...
static void	convertToXYZRPY (const Eigen::Isometry3d &pose, std::vector< double > &xyzrpy)
	Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard. More...
static void	convertToXYZRPY (const Eigen::Isometry3d &pose, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
static double	dRand (double min, double max)
	Get random between min and max. More...
static float	fRand (float min, float max)
static void	generateEmptyPose (geometry_msgs::Pose &pose)
	Create a pose of position (0,0,0) and quaternion (0,0,0,1) More...
static void	generateRandomCuboid (geometry_msgs::Pose &cuboid_pose, double &depth, double &width, double &height, RandomPoseBounds pose_bounds=RandomPoseBounds(), RandomCuboidBounds cuboid_bounds=RandomCuboidBounds())
	Create a random rectangular cuboid of some shape. More...
static void	generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
	Create a random pose within bounds of random_pose_bounds_. More...
static void	generateRandomPose (Eigen::Isometry3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())
static geometry_msgs::Pose	getIdentityPose ()
static colors	getRandColor ()
	Get a random color from the list of hardcoded enum color types. More...
static colors	intToRvizColor (std::size_t color)
	Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL. More...
static rviz_visual_tools::scales	intToRvizScale (std::size_t scale)
	Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL. More...
static int	iRand (int min, int max)
static bool	posesEqual (const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2, double threshold=0.000001)
	Test if two Eigen poses are close enough. More...
static void	printTransform (const Eigen::Isometry3d &transform)
	Display in the console a transform in quaternions. More...
static void	printTransformFull (const Eigen::Isometry3d &transform)
	Display in the console a transform with full 3x3 rotation matrix. More...
static void	printTransformRPY (const Eigen::Isometry3d &transform)
	Display in the console a transform in roll pitch yaw. More...
static void	printTranslation (const Eigen::Vector3d &translation)
	Display in the console the x,y,z values of a point. More...
static std::string	scaleToString (scales scale)
	Convert an enum to its string name equivalent. More...
static double	slerp (double start, double end, double range, double value)
	Interpolate from [start, end] with value of size steps with current value count. More...

Protected Attributes
double	alpha_ = 1.0
visualization_msgs::Marker	arrow_marker_
std::string	base_frame_
bool	batch_publishing_enabled_ = true
visualization_msgs::Marker	block_marker_
visualization_msgs::Marker	cuboid_marker_
visualization_msgs::Marker	cylinder_marker_
bool	frame_locking_enabled_ = false
double	global_scale_ = 1.0
visualization_msgs::Marker	line_list_marker_
visualization_msgs::Marker	line_strip_marker_
ros::Duration	marker_lifetime_
std::string	marker_topic_
visualization_msgs::MarkerArray	markers_
visualization_msgs::Marker	mesh_marker_
ros::NodeHandle	nh_
bool	psychedelic_mode_ = false
ros::Publisher	pub_rviz_markers_
bool	pub_rviz_markers_connected_ = false
bool	pub_rviz_markers_waited_ = false
RemoteControlPtr	remote_control_
visualization_msgs::Marker	reset_marker_
visualization_msgs::Marker	sphere_marker_
visualization_msgs::Marker	spheres_marker_
visualization_msgs::Marker	text_marker_
visualization_msgs::Marker	triangle_marker_

Static Protected Attributes
static const std::array< colors, 14 >	all_rand_colors_
static RVIZ_VISUAL_TOOLS_DECL const std::string	name_ = "visual_tools"

Private Member Functions
void	initialize ()
	Shared function for initilization by constructors. More...
bool	publishAxisInternal (const Eigen::Isometry3d &pose, double length=0.1, double radius=0.01, const std::string &ns="Axis")
	Display a red/green/blue coordinate axis - the 'internal' version does not do a batch publish. More...

Detailed Description

Definition at line 184 of file rviz_visual_tools.h.

Constructor & Destructor Documentation

RvizVisualTools()

rviz_visual_tools::RvizVisualTools::RvizVisualTools ( std::string  base_frame, std::string  marker_topic = RVIZ_MARKER_TOPIC, ros::NodeHandle  nh = ros::NodeHandle("~")  )

explicit

Constructor.

Parameters

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match
nh	- optional ros node handle - defaults to "~"

Definition at line 64 of file rviz_visual_tools.cpp.

~RvizVisualTools()

rviz_visual_tools::RvizVisualTools::~RvizVisualTools ( )

inline

Deconstructor.

Definition at line 203 of file rviz_visual_tools.h.

Member Function Documentation

convertFromXYZRPY() [1/2]

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY ( double  tx, double  ty, double  tz, double  rx, double  ry, double  rz, EulerConvention  convention  )

static

Converts scalar translations and rotations to an Eigen Frame. This is achieved by chaining a translation with individual euler rotations in ZYX order (this is equivalent to fixed rotatins XYZ) http://en.wikipedia.org/wiki/Euler_angles#Conversion_between_intrinsic_and_extrinsic_rotations Euler conversion code sourced from Descartes, Copyright (c) 2014, Southwest Research Institute.

Parameters

tx,ty,tz	- translations in x, y, z respectively
rx,ry,rz	- rotations about x, y, z, respectively
convention	- default is rviz_visual_tools::XYZ

Definition at line 2544 of file rviz_visual_tools.cpp.

convertFromXYZRPY() [2/2]

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::convertFromXYZRPY ( const std::vector< double > &  transform6, EulerConvention  convention  )

static

Definition at line 2574 of file rviz_visual_tools.cpp.

convertPoint() [1/3]

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Point &  point )

static

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters

point

Returns

converted pose

Definition at line 2499 of file rviz_visual_tools.cpp.

convertPoint() [2/3]

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const geometry_msgs::Vector3 &  point )

static

Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters

point

Returns

converted point

Definition at line 2526 of file rviz_visual_tools.cpp.

convertPoint() [3/3]

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoint ( const Eigen::Vector3d &  point )

static

Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.

Parameters

point

Returns

converted point

Definition at line 2535 of file rviz_visual_tools.cpp.

convertPoint32() [1/2]

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::convertPoint32 ( const geometry_msgs::Point32 &  point )

static

Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.

Parameters

point

Returns

converted pose

Definition at line 2508 of file rviz_visual_tools.cpp.

convertPoint32() [2/2]

geometry_msgs::Point32 rviz_visual_tools::RvizVisualTools::convertPoint32 ( const Eigen::Vector3d &  point )

static

Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.

Parameters

point

Returns

converted pose

Definition at line 2517 of file rviz_visual_tools.cpp.

convertPoint32ToPose()

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::convertPoint32ToPose ( const geometry_msgs::Point32 &  point )

static

Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.

Parameters

pose

Returns

converted point with default rotation matrix

Definition at line 2463 of file rviz_visual_tools.cpp.

convertPointToPose() [1/2]

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPointToPose ( const geometry_msgs::Point &  point )

static

Add an identity rotation matrix to make a point have a full pose.

Definition at line 2473 of file rviz_visual_tools.cpp.

convertPointToPose() [2/2]

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::convertPointToPose ( const Eigen::Vector3d &  point )

static

Definition at line 2484 of file rviz_visual_tools.cpp.

convertPose() [1/2]

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::convertPose ( const Eigen::Isometry3d &  pose )

static

Convert an Eigen pose to a geometry_msg pose.

Parameters

pose

Returns

converted pose

Definition at line 2439 of file rviz_visual_tools.cpp.

convertPose() [2/2]

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::convertPose ( const geometry_msgs::Pose &  pose )

static

Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.

Parameters

ROS

msg pose

Returns

converted pose

Definition at line 2451 of file rviz_visual_tools.cpp.

convertPoseSafe() [1/2]

void rviz_visual_tools::RvizVisualTools::convertPoseSafe ( const Eigen::Isometry3d &  pose, geometry_msgs::Pose &  pose_msg  )

static

Convert an Eigen pose to a geometry_msg pose - thread safe.

Parameters

Eigen	pose - input
ROS	msg pose - output

Definition at line 2446 of file rviz_visual_tools.cpp.

convertPoseSafe() [2/2]

void rviz_visual_tools::RvizVisualTools::convertPoseSafe ( const geometry_msgs::Pose &  pose_msg, Eigen::Isometry3d &  pose  )

static

Convert a geometry_msg pose to an Eigen pose - thread safe.

Parameters

ROS	msg pose - input
Eigen	pose - output

Definition at line 2458 of file rviz_visual_tools.cpp.

convertPoseToPoint()

geometry_msgs::Point rviz_visual_tools::RvizVisualTools::convertPoseToPoint ( const Eigen::Isometry3d &  pose )

static

Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.

Parameters

pose

Returns

converted point with orientation discarded

Definition at line 2492 of file rviz_visual_tools.cpp.

convertToXYZRPY() [1/2]

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY ( const Eigen::Isometry3d &  pose, std::vector< double > &  xyzrpy  )

static

Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.

Parameters

input	Eigen pose
output	vector of size 6 in order xyz rpy

Definition at line 2586 of file rviz_visual_tools.cpp.

convertToXYZRPY() [2/2]

void rviz_visual_tools::RvizVisualTools::convertToXYZRPY ( const Eigen::Isometry3d &  pose, double &  x, double &  y, double &  z, double &  roll, double &  pitch, double &  yaw  )

static

Definition at line 2592 of file rviz_visual_tools.cpp.

createRandColor()

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::createRandColor

(

)

const

Create a random color that is not too light.

Returns

the RGB message of a random color

Definition at line 579 of file rviz_visual_tools.cpp.

deleteAllMarkers()

bool rviz_visual_tools::RvizVisualTools::deleteAllMarkers

(

)

Tell Rviz to clear all markers on a particular display.

Definition at line 78 of file rviz_visual_tools.cpp.

dRand()

double rviz_visual_tools::RvizVisualTools::dRand ( double  min, double  max  )

static

Get random between min and max.

Definition at line 2719 of file rviz_visual_tools.cpp.

enableBatchPublishing()

void rviz_visual_tools::RvizVisualTools::enableBatchPublishing

(

bool

enable = true

)

Enable batch publishing - useful for when many markers need to be published at once and the ROS topic can get overloaded. This collects all published markers into array and only publishes them with trigger() is called.

Definition at line 843 of file rviz_visual_tools.cpp.

enableFrameLocking()

void rviz_visual_tools::RvizVisualTools::enableFrameLocking

(

bool

enable = true

)

Enable frame locking - useful for when the markers is attached to a moving TF, the marker will be re-transformed into its frame every time-step.

Definition at line 848 of file rviz_visual_tools.cpp.

fRand()

float rviz_visual_tools::RvizVisualTools::fRand ( float  min, float  max  )

static

Definition at line 2725 of file rviz_visual_tools.cpp.

generateEmptyPose()

void rviz_visual_tools::RvizVisualTools::generateEmptyPose ( geometry_msgs::Pose &  pose )

static

Create a pose of position (0,0,0) and quaternion (0,0,0,1)

Parameters

Pose	to fill in

Definition at line 2674 of file rviz_visual_tools.cpp.

generateRandomCuboid()

void rviz_visual_tools::RvizVisualTools::generateRandomCuboid ( geometry_msgs::Pose &  cuboid_pose, double &  depth, double &  width, double &  height, RandomPoseBounds  pose_bounds = RandomPoseBounds(), RandomCuboidBounds  cuboid_bounds = RandomCuboidBounds()  )

static

Create a random rectangular cuboid of some shape.

Definition at line 2613 of file rviz_visual_tools.cpp.

generateRandomPose() [1/2]

void rviz_visual_tools::RvizVisualTools::generateRandomPose ( geometry_msgs::Pose &  pose, RandomPoseBounds  pose_bounds = RandomPoseBounds()  )

static

Create a random pose within bounds of random_pose_bounds_.

Parameters

Pose	to fill in options bounds on the pose to generate

Definition at line 2606 of file rviz_visual_tools.cpp.

generateRandomPose() [2/2]

void rviz_visual_tools::RvizVisualTools::generateRandomPose ( Eigen::Isometry3d &  pose, RandomPoseBounds  pose_bounds = RandomPoseBounds()  )

static

Definition at line 2626 of file rviz_visual_tools.cpp.

getBaseFrame()

const std::string rviz_visual_tools::RvizVisualTools::getBaseFrame ( ) const

inline

Get the base frame.

Returns

name of base frame

Definition at line 334 of file rviz_visual_tools.h.

getCenterPoint()

Eigen::Vector3d rviz_visual_tools::RvizVisualTools::getCenterPoint	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b
	)		const

Find the center between to points.

Parameters

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns

center point

Definition at line 712 of file rviz_visual_tools.cpp.

getColor()

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColor

(

colors

color

)

const

Get the RGB value of standard colors.

Parameters

color

- an enum pre-defined name of a color

Returns

the RGB message equivalent

Definition at line 371 of file rviz_visual_tools.cpp.

getColorScale()

std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColorScale

(

double

value

)

const

Convert a value from [0,1] to a color Green->Red.

Returns

interpolated color

Definition at line 613 of file rviz_visual_tools.cpp.

getGlobalScale()

double rviz_visual_tools::RvizVisualTools::getGlobalScale ( ) const

inline

Getter for the global scale used for changing size of all markers.

Definition at line 352 of file rviz_visual_tools.h.

getIdentityPose()

geometry_msgs::Pose rviz_visual_tools::RvizVisualTools::getIdentityPose ( )

static

Definition at line 2688 of file rviz_visual_tools.cpp.

getPsychedelicMode()

bool rviz_visual_tools::RvizVisualTools::getPsychedelicMode ( ) const

inline

Getter for PsychedelicMode.

Definition at line 1037 of file rviz_visual_tools.h.

getRandColor()

colors rviz_visual_tools::RvizVisualTools::getRandColor ( )

static

Get a random color from the list of hardcoded enum color types.

Returns

Random color from colors

Definition at line 365 of file rviz_visual_tools.cpp.

getRemoteControl()

RemoteControlPtr & rviz_visual_tools::RvizVisualTools::getRemoteControl

(

)

Ability to load remote control on the fly.

Definition at line 2776 of file rviz_visual_tools.cpp.

getScale()

geometry_msgs::Vector3 rviz_visual_tools::RvizVisualTools::getScale	(	scales	scale,
		double	marker_scale = 1.0
	)		const

Get the rviz marker scale of standard sizes.

Parameters

scale	- an enum pre-defined name of a size
marker_scale	- amount to scale the scale for accounting for different types of markers

Returns

vector of 3 scales

Definition at line 660 of file rviz_visual_tools.cpp.

getVectorBetweenPoints()

Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b
	)		const

Create a vector that points from point a to point b.

Parameters

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point

Returns

vector from a to b

Definition at line 721 of file rviz_visual_tools.cpp.

initialize()

void rviz_visual_tools::RvizVisualTools::initialize ( )

private

Shared function for initilization by constructors.

Definition at line 70 of file rviz_visual_tools.cpp.

intToRvizColor()

colors rviz_visual_tools::RvizVisualTools::intToRvizColor ( std::size_t  color )

static

Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL.

Definition at line 504 of file rviz_visual_tools.cpp.

intToRvizScale()

scales rviz_visual_tools::RvizVisualTools::intToRvizScale ( std::size_t  scale )

static

Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL.

Definition at line 535 of file rviz_visual_tools.cpp.

iRand()

int rviz_visual_tools::RvizVisualTools::iRand ( int  min, int  max  )

static

Definition at line 2731 of file rviz_visual_tools.cpp.

loadMarkerPub()

void rviz_visual_tools::RvizVisualTools::loadMarkerPub	(	bool	wait_for_subscriber = false,
		bool	latched = false
	)

Load publishers as needed.

Parameters

wait_for_subscriber

- whether a sleep for loop should be used to check for connectivity to an external node before proceeding

Definition at line 271 of file rviz_visual_tools.cpp.

loadRemoteControl()

void rviz_visual_tools::RvizVisualTools::loadRemoteControl

(

)

Pre-load remote control.

Definition at line 2785 of file rviz_visual_tools.cpp.

loadRvizMarkers()

bool rviz_visual_tools::RvizVisualTools::loadRvizMarkers

(

)

Pre-load rviz markers for better efficiency.

Returns

converted pose *

true on sucess

Definition at line 99 of file rviz_visual_tools.cpp.

posesEqual()

bool rviz_visual_tools::RvizVisualTools::posesEqual ( const Eigen::Isometry3d &  pose1, const Eigen::Isometry3d &  pose2, double  threshold = 0.000001  )

static

Test if two Eigen poses are close enough.

Parameters

pose1
pose2
threshold	- how close in value they must be in order to be considered the same

Returns

true if equal

Definition at line 2704 of file rviz_visual_tools.cpp.

printTransform()

void rviz_visual_tools::RvizVisualTools::printTransform ( const Eigen::Isometry3d &  transform )

static

Display in the console a transform in quaternions.

Definition at line 2748 of file rviz_visual_tools.cpp.

printTransformFull()

void rviz_visual_tools::RvizVisualTools::printTransformFull ( const Eigen::Isometry3d &  transform )

static

Display in the console a transform with full 3x3 rotation matrix.

Definition at line 2764 of file rviz_visual_tools.cpp.

printTransformRPY()

void rviz_visual_tools::RvizVisualTools::printTransformRPY ( const Eigen::Isometry3d &  transform )

static

Display in the console a transform in roll pitch yaw.

Definition at line 2756 of file rviz_visual_tools.cpp.

printTranslation()

void rviz_visual_tools::RvizVisualTools::printTranslation ( const Eigen::Vector3d &  translation )

static

Display in the console the x,y,z values of a point.

Definition at line 2743 of file rviz_visual_tools.cpp.

prompt()

void rviz_visual_tools::RvizVisualTools::prompt

(

const std::string &

msg

)

Wait for user feedback i.e. through a button or joystick.

Definition at line 2771 of file rviz_visual_tools.cpp.

publishArrow() [1/4]

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const Eigen::Isometry3d &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0,
		std::size_t	id = 0
	)

Display an arrow along the x-axis of a pose.

Parameters

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- how long the arrow tail should be. if zero, will auto set with scale
start	- the starting point of the arrow
end	- the ending point of the arrow

Returns

true on success

Definition at line 1292 of file rviz_visual_tools.cpp.

publishArrow() [2/4]

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const geometry_msgs::Pose &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0,
		std::size_t	id = 0
	)

Definition at line 1298 of file rviz_visual_tools.cpp.

publishArrow() [3/4]

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const geometry_msgs::PoseStamped &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0,
		std::size_t	id = 0
	)

Definition at line 1332 of file rviz_visual_tools.cpp.

publishArrow() [4/4]

bool rviz_visual_tools::RvizVisualTools::publishArrow	(	const geometry_msgs::Point &	start,
		const geometry_msgs::Point &	end,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		std::size_t	id = 0
	)

Definition at line 1368 of file rviz_visual_tools.cpp.

publishAxis() [1/4]

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const geometry_msgs::Pose &	pose,
		scales	scale = MEDIUM,
		const std::string &	ns = "Axis"
	)

Display a red/green/blue coordinate frame axis.

Parameters

pose	- the location to publish the marker with respect to the base frame
scale	- size of axis
length	- geometry of cylinder
radius	- geometry of cylinder
ns	- namespace

Returns

true on success

Definition at line 1421 of file rviz_visual_tools.cpp.

publishAxis() [2/4]

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const Eigen::Isometry3d &	pose,
		scales	scale = MEDIUM,
		const std::string &	ns = "Axis"
	)

Definition at line 1427 of file rviz_visual_tools.cpp.

publishAxis() [3/4]

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const geometry_msgs::Pose &	pose,
		double	length,
		double	radius = 0.01,
		const std::string &	ns = "Axis"
	)

Definition at line 1433 of file rviz_visual_tools.cpp.

publishAxis() [4/4]

bool rviz_visual_tools::RvizVisualTools::publishAxis	(	const Eigen::Isometry3d &	pose,
		double	length,
		double	radius = 0.01,
		const std::string &	ns = "Axis"
	)

Definition at line 1438 of file rviz_visual_tools.cpp.

publishAxisInternal()

bool rviz_visual_tools::RvizVisualTools::publishAxisInternal ( const Eigen::Isometry3d &  pose, double  length = 0.1, double  radius = 0.01, const std::string &  ns = "Axis"  )

private

Display a red/green/blue coordinate axis - the 'internal' version does not do a batch publish.

Parameters

pose	- the location to publish the marker with respect to the base frame
length	- geometry of cylinder
radius	- geometry of cylinder
ns	- namespace

Returns

true on success

Definition at line 1447 of file rviz_visual_tools.cpp.

publishAxisLabeled() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled	(	const Eigen::Isometry3d &	pose,
		const std::string &	label,
		scales	scale = MEDIUM,
		colors	color = WHITE
	)

Display a marker of a coordinate frame axis with a text label describing it.

Parameters

pose	- the location to publish the marker with respect to the base frame
label	- name of axis/coordinate frame
scale	- size of axis
color	- an enum pre-defined name of a color

Returns

true on success

Definition at line 1401 of file rviz_visual_tools.cpp.

publishAxisLabeled() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled	(	const geometry_msgs::Pose &	pose,
		const std::string &	label,
		scales	scale = MEDIUM,
		colors	color = WHITE
	)

Definition at line 1407 of file rviz_visual_tools.cpp.

publishAxisPath() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishAxisPath	(	const EigenSTL::vector_Isometry3d &	path,
		scales	scale = MEDIUM,
		const std::string &	ns = "Axis Path"
	)

Display a series of red/green/blue coordinate axis along a path.

Parameters

path	- the location to publish each marker with respect to the base frame
length	- geometry of cylinder
radius	- geometry of cylinder
ns	- namespace

Returns

true on success

Definition at line 1470 of file rviz_visual_tools.cpp.

publishAxisPath() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishAxisPath	(	const EigenSTL::vector_Isometry3d &	path,
		double	length = 0.1,
		double	radius = 0.01,
		const std::string &	ns = "Axis Path"
	)

Definition at line 1482 of file rviz_visual_tools.cpp.

publishCone() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishCone	(	const Eigen::Isometry3d &	pose,
		double	angle,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Display a cone of a given angle along the x-axis.

Parameters

pose	- the location and orientation of the cone
color	- color of the cone
scale	- size of the cone

Returns

true on success

Definition at line 925 of file rviz_visual_tools.cpp.

publishCone() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishCone	(	const geometry_msgs::Pose &	pose,
		double	angle,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Definition at line 930 of file rviz_visual_tools.cpp.

publishCuboid() [1/4]

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		colors	color = BLUE
	)

Display a rectangular cuboid.

Parameters

point1	- x,y,z top corner location of box
point2	- x,y,z bottom opposite corner location of box
color	- an enum pre-defined name of a color

Returns

true on success

Definition at line 1640 of file rviz_visual_tools.cpp.

publishCuboid() [2/4]

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		colors	color = BLUE,
		const std::string &	ns = "Cuboid",
		std::size_t	id = 0
	)

Definition at line 1645 of file rviz_visual_tools.cpp.

publishCuboid() [3/4]

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const geometry_msgs::Pose &	pose,
		double	depth,
		double	width,
		double	height,
		colors	color = BLUE
	)

Display a rectangular cuboid.

Parameters

pose	- pose of the box
depth	- depth of the box
width	- width of the box
height	- height of the box
color	- an enum pre-defined name of a color

Returns

true on success

Definition at line 1699 of file rviz_visual_tools.cpp.

publishCuboid() [4/4]

bool rviz_visual_tools::RvizVisualTools::publishCuboid	(	const Eigen::Isometry3d &	pose,
		double	depth,
		double	width,
		double	height,
		colors	color = BLUE
	)

Definition at line 1693 of file rviz_visual_tools.cpp.

publishCylinder() [1/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Cylinder"
	)

Display a marker of a cylinder.

Parameters

point1	- starting side of cylinder
point2	- end side of cylinder
color	- an enum pre-defined name of a color
radius	- geometry of cylinder

Returns

true on success

Definition at line 1494 of file rviz_visual_tools.cpp.

publishCylinder() [2/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		colors	color,
		double	radius = 0.01,
		const std::string &	ns = "Cylinder"
	)

Definition at line 1501 of file rviz_visual_tools.cpp.

publishCylinder() [3/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		double	radius = 0.01,
		const std::string &	ns = "Cylinder"
	)

Definition at line 1507 of file rviz_visual_tools.cpp.

publishCylinder() [4/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const Eigen::Isometry3d &	pose,
		colors	color = BLUE,
		double	height = 0.1,
		double	radius = 0.01,
		const std::string &	ns = "Cylinder"
	)

Display a marker of a cylinder.

Parameters

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
height	- geometry of cylinder
radius	- geometry of cylinder

Returns

true on success

Definition at line 1529 of file rviz_visual_tools.cpp.

publishCylinder() [5/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const geometry_msgs::Pose &	pose,
		colors	color = BLUE,
		double	height = 0.1,
		double	radius = 0.01,
		const std::string &	ns = "Cylinder"
	)

Definition at line 1535 of file rviz_visual_tools.cpp.

publishCylinder() [6/6]

bool rviz_visual_tools::RvizVisualTools::publishCylinder	(	const geometry_msgs::Pose &	pose,
		const std_msgs::ColorRGBA &	color,
		double	height = 0.1,
		double	radius = 0.01,
		const std::string &	ns = "Cylinder"
	)

Definition at line 1541 of file rviz_visual_tools.cpp.

publishGraph()

bool rviz_visual_tools::RvizVisualTools::publishGraph	(	const graph_msgs::GeometryGraph &	graph,
		colors	color,
		double	radius
	)

Display a graph.

Parameters

graph	of nodes and edges
color	- an enum pre-defined name of a color
radius	- width of cylinders

Returns

true on success

Definition at line 1608 of file rviz_visual_tools.cpp.

publishLine() [1/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Isometry3d &	point1,
		const Eigen::Isometry3d &	point2,
		colors	color = BLUE,
		scales	scale = MEDIUM
	)

Display a marker of line.

Parameters

point1	- x,y,z of start of line
point2	- x,y,z of end of line
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns

true on success

Definition at line 1740 of file rviz_visual_tools.cpp.

publishLine() [2/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		colors	color = BLUE,
		scales	scale = MEDIUM
	)

Definition at line 1746 of file rviz_visual_tools.cpp.

publishLine() [3/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		colors	color,
		double	radius
	)

Definition at line 1751 of file rviz_visual_tools.cpp.

publishLine() [4/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		scales	scale = MEDIUM
	)

Definition at line 1761 of file rviz_visual_tools.cpp.

publishLine() [5/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std_msgs::ColorRGBA &	color,
		double	radius
	)

Definition at line 1767 of file rviz_visual_tools.cpp.

publishLine() [6/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		colors	color = BLUE,
		scales	scale = MEDIUM
	)

Definition at line 1777 of file rviz_visual_tools.cpp.

publishLine() [7/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std_msgs::ColorRGBA &	color,
		scales	scale = MEDIUM
	)

Definition at line 1783 of file rviz_visual_tools.cpp.

publishLine() [8/8]

bool rviz_visual_tools::RvizVisualTools::publishLine	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3 &	scale
	)

Definition at line 1789 of file rviz_visual_tools.cpp.

publishLines() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishLines	(	const EigenSTL::vector_Vector3d &	aPoints,
		const EigenSTL::vector_Vector3d &	bPoints,
		const std::vector< colors > &	colors,
		scales	scale = MEDIUM
	)

Display a marker of lines.

Parameters

aPoints	- x,y,z of start of line, as a vector
bPoints	- x,y,z of end of line, as a vector
colors	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size

Returns

true on success

Definition at line 1807 of file rviz_visual_tools.cpp.

publishLines() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishLines	(	const std::vector< geometry_msgs::Point > &	aPoints,
		const std::vector< geometry_msgs::Point > &	bPoints,
		const std::vector< std_msgs::ColorRGBA > &	colors,
		const geometry_msgs::Vector3 &	scale
	)

Definition at line 1831 of file rviz_visual_tools.cpp.

publishLineStrip()

bool rviz_visual_tools::RvizVisualTools::publishLineStrip	(	const std::vector< geometry_msgs::Point > &	path,
		colors	color = RED,
		scales	scale = MEDIUM,
		const std::string &	ns = "Path"
	)

Display a series of connected lines using the LINE_STRIP method - deprecated because visual bugs.

Parameters

path	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns

true on success

Definition at line 1864 of file rviz_visual_tools.cpp.

publishMarker()

bool rviz_visual_tools::RvizVisualTools::publishMarker

(

visualization_msgs::Marker &

marker

)

Display a visualization_msgs Marker of a custom type. Allows reuse of the ros publisher.

Parameters

marker

- a pre-made marker ready to be published

Returns

true on success

Definition at line 828 of file rviz_visual_tools.cpp.

publishMarkers()

bool rviz_visual_tools::RvizVisualTools::publishMarkers

(

visualization_msgs::MarkerArray &

markers

)

Display an array of markers, allows reuse of the ROS publisher.

Parameters

markers

Returns

true on success

Definition at line 880 of file rviz_visual_tools.cpp.

publishMesh() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishMesh	(	const Eigen::Isometry3d &	pose,
		const std::string &	file_name,
		colors	color = CLEAR,
		double	scale = 1,
		const std::string &	ns = "mesh",
		std::size_t	id = 0
	)

Display a mesh from file.

Parameters

pose	- the location to publish the marker with respect to the base frame
file	name of mesh, starting with "file://" e.g. "file:///home/user/mesh.stl"
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns

true on success

Definition at line 1564 of file rviz_visual_tools.cpp.

publishMesh() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishMesh	(	const geometry_msgs::Pose &	pose,
		const std::string &	file_name,
		colors	color = CLEAR,
		double	scale = 1,
		const std::string &	ns = "mesh",
		std::size_t	id = 0
	)

Definition at line 1570 of file rviz_visual_tools.cpp.

publishPath() [1/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const std::vector< geometry_msgs::Pose > &	path,
		colors	color = RED,
		scales	scale = MEDIUM,
		const std::string &	ns = "Path"
	)

Display a marker of a series of connected cylinders.

Parameters

path	- a series of points to connect with cylinders
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns

true on success

Definition at line 1898 of file rviz_visual_tools.cpp.

publishPath() [2/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const std::vector< geometry_msgs::Point > &	path,
		colors	color,
		scales	scale,
		const std::string &	ns = "Path"
	)

Definition at line 1910 of file rviz_visual_tools.cpp.

publishPath() [3/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Isometry3d &	path,
		colors	color,
		scales	scale,
		const std::string &	ns = "Path"
	)

Definition at line 1916 of file rviz_visual_tools.cpp.

publishPath() [4/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Vector3d &	path,
		colors	color,
		scales	scale,
		const std::string &	ns = "Path"
	)

Definition at line 1922 of file rviz_visual_tools.cpp.

publishPath() [5/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const std::vector< geometry_msgs::Point > &	path,
		colors	color = RED,
		double	radius = 0.01,
		const std::string &	ns = "Path"
	)

Definition at line 1928 of file rviz_visual_tools.cpp.

publishPath() [6/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Vector3d &	path,
		colors	color = RED,
		double	radius = 0.01,
		const std::string &	ns = "Path"
	)

Definition at line 1946 of file rviz_visual_tools.cpp.

publishPath() [7/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Isometry3d &	path,
		colors	color = RED,
		double	radius = 0.01,
		const std::string &	ns = "Path"
	)

Definition at line 1964 of file rviz_visual_tools.cpp.

publishPath() [8/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Vector3d &	path,
		const std::vector< colors > &	colors,
		double	radius = 0.01,
		const std::string &	ns = "Path"
	)

Display a marker of a series of connected colored cylinders.

Parameters

path	- a series of points to connect with cylinders
colors	- a series of colors
radius	- the radius of the cylinders
ns	- namespace of marker

Returns

true on success

Note

path and colors vectors must be the same size

Definition at line 1982 of file rviz_visual_tools.cpp.

publishPath() [9/9]

bool rviz_visual_tools::RvizVisualTools::publishPath	(	const EigenSTL::vector_Vector3d &	path,
		const std::vector< std_msgs::ColorRGBA > &	colors,
		double	radius,
		const std::string &	ns = "Path"
	)

Definition at line 2007 of file rviz_visual_tools.cpp.

publishPolygon()

bool rviz_visual_tools::RvizVisualTools::publishPolygon	(	const geometry_msgs::Polygon &	polygon,
		colors	color = RED,
		scales	scale = MEDIUM,
		const std::string &	ns = "Polygon"
	)

Display a marker of a polygon.

Parameters

polygon	- a series of points to connect with lines
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns

true on success

Definition at line 2032 of file rviz_visual_tools.cpp.

publishSphere() [1/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Isometry3d &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Display a marker of a sphere.

Parameters

pose	- the location to publish the sphere with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns

true on success

Definition at line 1109 of file rviz_visual_tools.cpp.

publishSphere() [2/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1115 of file rviz_visual_tools.cpp.

publishSphere() [3/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		colors	color,
		double	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1123 of file rviz_visual_tools.cpp.

publishSphere() [4/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Point &	point,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1131 of file rviz_visual_tools.cpp.

publishSphere() [5/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1139 of file rviz_visual_tools.cpp.

publishSphere() [6/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		colors	color,
		double	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1145 of file rviz_visual_tools.cpp.

publishSphere() [7/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		colors	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1155 of file rviz_visual_tools.cpp.

publishSphere() [8/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::Pose &	pose,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1175 of file rviz_visual_tools.cpp.

publishSphere() [9/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Isometry3d &	pose,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1161 of file rviz_visual_tools.cpp.

publishSphere() [10/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const Eigen::Vector3d &	point,
		const std_msgs::ColorRGBA &	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1167 of file rviz_visual_tools.cpp.

publishSphere() [11/11]

bool rviz_visual_tools::RvizVisualTools::publishSphere	(	const geometry_msgs::PoseStamped &	pose,
		colors	color,
		const geometry_msgs::Vector3	scale,
		const std::string &	ns = "Sphere",
		std::size_t	id = 0
	)

Definition at line 1200 of file rviz_visual_tools.cpp.

publishSpheres() [1/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const EigenSTL::vector_Vector3d &	points,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Spheres"
	)

Display a marker of a series of spheres.

Parameters

spheres	- where to publish them
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns

true on success

Definition at line 2283 of file rviz_visual_tools.cpp.

publishSpheres() [2/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const EigenSTL::vector_Vector3d &	points,
		colors	color,
		double	scale = 0.1,
		const std::string &	ns = "Spheres"
	)

Definition at line 2296 of file rviz_visual_tools.cpp.

publishSpheres() [3/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		const std::string &	ns = "Spheres"
	)

Definition at line 2319 of file rviz_visual_tools.cpp.

publishSpheres() [4/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		colors	color = BLUE,
		double	scale = 0.1,
		const std::string &	ns = "Spheres"
	)

Definition at line 2309 of file rviz_visual_tools.cpp.

publishSpheres() [5/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		colors	color,
		const geometry_msgs::Vector3 &	scale,
		const std::string &	ns = "Spheres"
	)

Definition at line 2325 of file rviz_visual_tools.cpp.

publishSpheres() [6/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const EigenSTL::vector_Vector3d &	points,
		const std::vector< colors > &	colors,
		scales	scale = MEDIUM,
		const std::string &	ns = "Spheres"
	)

Display a marker of a series of spheres, with the possibility of different colors.

Parameters

spheres	- where to publish them
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
ns	- namespace of marker

Returns

true on success

Definition at line 2351 of file rviz_visual_tools.cpp.

publishSpheres() [7/7]

bool rviz_visual_tools::RvizVisualTools::publishSpheres	(	const std::vector< geometry_msgs::Point > &	points,
		const std::vector< std_msgs::ColorRGBA > &	colors,
		const geometry_msgs::Vector3 &	scale,
		const std::string &	ns = "Spheres"
	)

Definition at line 2370 of file rviz_visual_tools.cpp.

publishText() [1/4]

bool rviz_visual_tools::RvizVisualTools::publishText	(	const Eigen::Isometry3d &	pose,
		const std::string &	text,
		colors	color = WHITE,
		scales	scale = MEDIUM,
		bool	static_id = true
	)

Display a marker of a text.

Parameters

pose	- the location to publish the marker with respect to the base frame
text	- what message to display
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
static_id	- if true, only one text can be published at a time

Returns

true on success

Definition at line 2388 of file rviz_visual_tools.cpp.

publishText() [2/4]

bool rviz_visual_tools::RvizVisualTools::publishText	(	const Eigen::Isometry3d &	pose,
		const std::string &	text,
		colors	color,
		const geometry_msgs::Vector3	scale,
		bool	static_id = true
	)

Definition at line 2394 of file rviz_visual_tools.cpp.

publishText() [3/4]

bool rviz_visual_tools::RvizVisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		colors	color = WHITE,
		scales	scale = MEDIUM,
		bool	static_id = true
	)

Definition at line 2400 of file rviz_visual_tools.cpp.

publishText() [4/4]

bool rviz_visual_tools::RvizVisualTools::publishText	(	const geometry_msgs::Pose &	pose,
		const std::string &	text,
		colors	color,
		const geometry_msgs::Vector3	scale,
		bool	static_id = true
	)

Definition at line 2406 of file rviz_visual_tools.cpp.

publishWireframeCuboid() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid	(	const Eigen::Isometry3d &	pose,
		double	depth,
		double	width,
		double	height,
		colors	color = BLUE,
		const std::string &	ns = "Wireframe Cuboid",
		std::size_t	id = 0
	)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters

pose	- cuboid vertices are transformed according to it
depth	- object depth
width	- object width
height	- object height
color	- an enum pre-defined name of a color
ns	- namespace
id	- unique counter of mesh that allows you to overwrite a previous mesh. if 0, defaults to incremental counter

Returns

true on success

Definition at line 2056 of file rviz_visual_tools.cpp.

publishWireframeCuboid() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishWireframeCuboid	(	const Eigen::Isometry3d &	pose,
		const Eigen::Vector3d &	min_point,
		const Eigen::Vector3d &	max_point,
		colors	color = BLUE,
		const std::string &	ns = "Wireframe Cuboid",
		std::size_t	id = 0
	)

Publish transformed wireframe cuboid. Useful eg to show an oriented bounding box.

Parameters

pose	- cuboid vertices are transformed according to it
min_point	- minimum x, y, z coordinates
max_point	- maximum x, y, z coordinates
color	- an enum pre-defined name of a color
ns	- namespace
id	- unique counter that allows you to overwrite a previous marker. if 0, defaults to incremental counter

Returns

true on success

Definition at line 2065 of file rviz_visual_tools.cpp.

publishWireframeRectangle() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle	(	const Eigen::Isometry3d &	pose,
		double	height,
		double	width,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		std::size_t	id = 0
	)

Publish outline of a rectangle.

Parameters

pose	- cuboid vertices are transformed according to it
height
width
color	- an enum pre-defined name of a color
id	- unique counter that allows you to overwrite a previous marker. if 0, defaults to incremental counter

Returns

true on success

Definition at line 2172 of file rviz_visual_tools.cpp.

publishWireframeRectangle() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishWireframeRectangle	(	const Eigen::Isometry3d &	pose,
		const Eigen::Vector3d &	p1_in,
		const Eigen::Vector3d &	p2_in,
		const Eigen::Vector3d &	p3_in,
		const Eigen::Vector3d &	p4_in,
		colors	color,
		scales	scale
	)

Definition at line 2230 of file rviz_visual_tools.cpp.

publishXArrow() [1/3]

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const Eigen::Isometry3d &	pose,
		colors	color = RED,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Display an arrow along the x-axis of a pose.

Parameters

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail, if zero, will auto set with scale

Returns

true on success

Definition at line 1227 of file rviz_visual_tools.cpp.

publishXArrow() [2/3]

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const geometry_msgs::Pose &	pose,
		colors	color = RED,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1232 of file rviz_visual_tools.cpp.

publishXArrow() [3/3]

bool rviz_visual_tools::RvizVisualTools::publishXArrow	(	const geometry_msgs::PoseStamped &	pose,
		colors	color = RED,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1237 of file rviz_visual_tools.cpp.

publishXYPlane() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishXYPlane	(	const Eigen::Isometry3d &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Display the XY plane of a given pose.

Parameters

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns

true on success

Definition at line 971 of file rviz_visual_tools.cpp.

publishXYPlane() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishXYPlane	(	const geometry_msgs::Pose &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Definition at line 976 of file rviz_visual_tools.cpp.

publishXZPlane() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishXZPlane	(	const Eigen::Isometry3d &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Display the XY plane of a given pose.

Parameters

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns

true on success

Definition at line 1017 of file rviz_visual_tools.cpp.

publishXZPlane() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishXZPlane	(	const geometry_msgs::Pose &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Definition at line 1022 of file rviz_visual_tools.cpp.

publishYArrow() [1/3]

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const Eigen::Isometry3d &	pose,
		colors	color = GREEN,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Display an arrow along the y-axis of a pose.

Parameters

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail, if zero, will auto set with scale

Returns

true on success

Definition at line 1242 of file rviz_visual_tools.cpp.

publishYArrow() [2/3]

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const geometry_msgs::Pose &	pose,
		colors	color = GREEN,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1248 of file rviz_visual_tools.cpp.

publishYArrow() [3/3]

bool rviz_visual_tools::RvizVisualTools::publishYArrow	(	const geometry_msgs::PoseStamped &	pose,
		colors	color = GREEN,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1254 of file rviz_visual_tools.cpp.

publishYZPlane() [1/2]

bool rviz_visual_tools::RvizVisualTools::publishYZPlane	(	const Eigen::Isometry3d &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Display the XY plane of a given pose.

Parameters

pose	- the position of the plane
color	- the color of the plane
scale	- the size of the vizualized plane

Returns

true on success

Definition at line 1063 of file rviz_visual_tools.cpp.

publishYZPlane() [2/2]

bool rviz_visual_tools::RvizVisualTools::publishYZPlane	(	const geometry_msgs::Pose &	pose,
		colors	color = TRANSLUCENT,
		double	scale = 1.0
	)

Definition at line 1068 of file rviz_visual_tools.cpp.

publishZArrow() [1/4]

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const Eigen::Isometry3d &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0,
		std::size_t	id = 0
	)

Display an arrow along the z-axis of a pose.

Parameters

pose	- the location to publish the marker with respect to the base frame
color	- an enum pre-defined name of a color
scale	- an enum pre-defined name of a size
length	- the length of the arrow tail, if zero, will auto set with scale

Returns

true on success

Definition at line 1262 of file rviz_visual_tools.cpp.

publishZArrow() [2/4]

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::Pose &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1269 of file rviz_visual_tools.cpp.

publishZArrow() [3/4]

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::PoseStamped &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0
	)

Definition at line 1275 of file rviz_visual_tools.cpp.

publishZArrow() [4/4]

bool rviz_visual_tools::RvizVisualTools::publishZArrow	(	const geometry_msgs::PoseStamped &	pose,
		colors	color = BLUE,
		scales	scale = MEDIUM,
		double	length = 0.0,
		std::size_t	id = 0
	)

Definition at line 1283 of file rviz_visual_tools.cpp.

resetMarkerCounts()

void rviz_visual_tools::RvizVisualTools::resetMarkerCounts

(

)

Reset the id's of all published markers so that they overwrite themselves in the future NOTE you may prefer deleteAllMarkers()

Definition at line 84 of file rviz_visual_tools.cpp.

scaleToString()

std::string rviz_visual_tools::RvizVisualTools::scaleToString ( scales  scale )

static

Convert an enum to its string name equivalent.

Definition at line 557 of file rviz_visual_tools.cpp.

setAlpha()

void rviz_visual_tools::RvizVisualTools::setAlpha ( double  alpha )

inline

Change the transparency of all markers published.

Parameters

alpha

- value 0 - 1 where 0 is invisible

Definition at line 256 of file rviz_visual_tools.h.

setBaseFrame()

void rviz_visual_tools::RvizVisualTools::setBaseFrame ( const std::string &  base_frame )

inline

Change the global base frame Note: this might reset all your current markers.

Parameters

name

of frame

Definition at line 343 of file rviz_visual_tools.h.

setGlobalScale()

void rviz_visual_tools::RvizVisualTools::setGlobalScale ( double  global_scale )

inline

Setter for the global scale used for changing size of all markers.

Definition at line 359 of file rviz_visual_tools.h.

setLifetime()

void rviz_visual_tools::RvizVisualTools::setLifetime

(

double

lifetime

)

Set the lifetime of markers published to rviz.

Parameters

lifetime

seconds of how long to show markers. 0 for inifinity

Definition at line 350 of file rviz_visual_tools.cpp.

setMarkerTopic()

void rviz_visual_tools::RvizVisualTools::setMarkerTopic ( const std::string &  topic )

inline

Set marker array topic.

Definition at line 225 of file rviz_visual_tools.h.

setPsychedelicMode()

void rviz_visual_tools::RvizVisualTools::setPsychedelicMode ( bool  psychedelic_mode = true )

inline

Setter for PsychedelicMode.

Definition at line 1043 of file rviz_visual_tools.h.

slerp()

double rviz_visual_tools::RvizVisualTools::slerp ( double  start, double  end, double  range, double  value  )

static

Interpolate from [start, end] with value of size steps with current value count.

Returns

interpolated value

Definition at line 608 of file rviz_visual_tools.cpp.

trigger()

bool rviz_visual_tools::RvizVisualTools::trigger

(

)

Trigger the publish function to send out all collected markers.

Returns

true on success

Definition at line 862 of file rviz_visual_tools.cpp.

triggerEvery()

bool rviz_visual_tools::RvizVisualTools::triggerEvery

(

std::size_t

queueSize

)

Trigger the publish function to send out all collected markers IF there are at leats queueSize number of markers ready to be published. a * Warning: when using this in a loop be sure to call trigger() at end of loop in case there are any remainder markers in the queue.

Returns

true on success

Definition at line 853 of file rviz_visual_tools.cpp.

waitForMarkerPub() [1/2]

void rviz_visual_tools::RvizVisualTools::waitForMarkerPub

(

)

Optional blocking function to call after calling loadMarkerPub(). Allows you to do some intermediate processing before wasting cycles waiting for the marker pub to find a subscriber.

Definition at line 288 of file rviz_visual_tools.cpp.

waitForMarkerPub() [2/2]

void rviz_visual_tools::RvizVisualTools::waitForMarkerPub

(

double

wait_time

)

Definition at line 294 of file rviz_visual_tools.cpp.

waitForSubscriber()

bool rviz_visual_tools::RvizVisualTools::waitForSubscriber	(	const ros::Publisher &	pub,
		double	wait_time = 0.5,
		bool	blocking = false
	)

Wait until at least one subscriber connects to a publisher.

Parameters

pub	- the publisher to check for subscribers
wait_time	- time to wait for subscriber to be available before throwing warning
blocking	- if true, the function loop until a subscriber is gotten

Returns

true on successful connection

Definition at line 300 of file rviz_visual_tools.cpp.

Member Data Documentation

all_rand_colors_

const std::array< colors, 14 > rviz_visual_tools::RvizVisualTools::all_rand_colors_

staticprotected

Initial value:

= { RED,        GREEN,  BLUE,   GREY,   DARK_GREY,
                                                                   WHITE,      ORANGE, YELLOW, BROWN,  PINK,
                                                                   LIME_GREEN, PURPLE, CYAN,   MAGENTA }

Definition at line 1106 of file rviz_visual_tools.h.

alpha_

double rviz_visual_tools::RvizVisualTools::alpha_ = 1.0

protected

Definition at line 1082 of file rviz_visual_tools.h.

arrow_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::arrow_marker_

protected

Definition at line 1089 of file rviz_visual_tools.h.

base_frame_

std::string rviz_visual_tools::RvizVisualTools::base_frame_

protected

Definition at line 1074 of file rviz_visual_tools.h.

batch_publishing_enabled_

bool rviz_visual_tools::RvizVisualTools::batch_publishing_enabled_ = true

protected

Definition at line 1080 of file rviz_visual_tools.h.

block_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::block_marker_

protected

Definition at line 1091 of file rviz_visual_tools.h.

cuboid_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cuboid_marker_

protected

Definition at line 1095 of file rviz_visual_tools.h.

cylinder_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::cylinder_marker_

protected

Definition at line 1092 of file rviz_visual_tools.h.

frame_locking_enabled_

bool rviz_visual_tools::RvizVisualTools::frame_locking_enabled_ = false

protected

Definition at line 1081 of file rviz_visual_tools.h.

global_scale_

double rviz_visual_tools::RvizVisualTools::global_scale_ = 1.0

protected

Definition at line 1083 of file rviz_visual_tools.h.

line_list_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_list_marker_

protected

Definition at line 1097 of file rviz_visual_tools.h.

line_strip_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::line_strip_marker_

protected

Definition at line 1096 of file rviz_visual_tools.h.

marker_lifetime_

ros::Duration rviz_visual_tools::RvizVisualTools::marker_lifetime_

protected

Definition at line 1077 of file rviz_visual_tools.h.

marker_topic_

std::string rviz_visual_tools::RvizVisualTools::marker_topic_

protected

Definition at line 1073 of file rviz_visual_tools.h.

markers_

visualization_msgs::MarkerArray rviz_visual_tools::RvizVisualTools::markers_

protected

Definition at line 1086 of file rviz_visual_tools.h.

mesh_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::mesh_marker_

protected

Definition at line 1093 of file rviz_visual_tools.h.

name_

const std::string rviz_visual_tools::RvizVisualTools::name_ = "visual_tools"

staticprotected

Definition at line 1062 of file rviz_visual_tools.h.

nh_

ros::NodeHandle rviz_visual_tools::RvizVisualTools::nh_

protected

Definition at line 1059 of file rviz_visual_tools.h.

psychedelic_mode_

bool rviz_visual_tools::RvizVisualTools::psychedelic_mode_ = false

protected

Definition at line 1103 of file rviz_visual_tools.h.

pub_rviz_markers_

ros::Publisher rviz_visual_tools::RvizVisualTools::pub_rviz_markers_

protected

Definition at line 1068 of file rviz_visual_tools.h.

pub_rviz_markers_connected_

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_connected_ = false

protected

Definition at line 1069 of file rviz_visual_tools.h.

pub_rviz_markers_waited_

bool rviz_visual_tools::RvizVisualTools::pub_rviz_markers_waited_ = false

protected

Definition at line 1070 of file rviz_visual_tools.h.

remote_control_

RemoteControlPtr rviz_visual_tools::RvizVisualTools::remote_control_

protected

Definition at line 1065 of file rviz_visual_tools.h.

reset_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::reset_marker_

protected

Definition at line 1099 of file rviz_visual_tools.h.

sphere_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::sphere_marker_

protected

Definition at line 1090 of file rviz_visual_tools.h.

spheres_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::spheres_marker_

protected

Definition at line 1098 of file rviz_visual_tools.h.

text_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::text_marker_

protected

Definition at line 1094 of file rviz_visual_tools.h.

triangle_marker_

visualization_msgs::Marker rviz_visual_tools::RvizVisualTools::triangle_marker_

protected

Definition at line 1100 of file rviz_visual_tools.h.

---

The documentation for this class was generated from the following files:

• rviz_visual_tools.h
• rviz_visual_tools.cpp