#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 | publishABCDPlane (const double A, const double B, const double C, const double D, colors color=TRANSLUCENT, double x_width=1.0, double y_width=1.0) |
Display a plane. Vector (A, B, C) gives the normal to the plane. |D|/|(A,B,C)| gives the distance to plane along that unit normal. The plane equation used is Ax+By+Cz+D=0. 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::Point &start, const geometry_msgs::Point &end, colors color=BLUE, scales scale=MEDIUM, std::size_t id=0) |
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 | publishAxis (const Eigen::Isometry3d &pose, double length, double radius=0.01, const std::string &ns="Axis") |
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 geometry_msgs::Pose &pose, scales scale=MEDIUM, const std::string &ns="Axis") |
Display a red/green/blue coordinate frame axis. More... | |
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, double length=0.1, double radius=0.01, const std::string &ns="Axis Path") |
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 | 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::Isometry3d &pose, const Eigen::Vector3d &size, colors color=BLUE) |
Display a rectangular cuboid. More... | |
bool | publishCuboid (const Eigen::Isometry3d &pose, double depth, double width, double height, colors color=BLUE) |
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, const geometry_msgs::Vector3 &size, colors color=BLUE) |
bool | publishCuboid (const geometry_msgs::Pose &pose, double depth, double width, double height, colors color=BLUE) |
Display a rectangular cuboid. More... | |
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 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, 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, const std_msgs::ColorRGBA &color, double radius=0.01, const std::string &ns="Cylinder") |
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, double radius) |
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, const std_msgs::ColorRGBA &color, double radius) |
bool | publishLine (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM) |
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, const geometry_msgs::Vector3 &scale) |
bool | publishLine (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, scales scale=MEDIUM) |
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 shape_msgs::Mesh &mesh, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0) |
Display a mesh from triangles and vertices. 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 shape_msgs::Mesh &mesh, colors color=CLEAR, double scale=1, const std::string &ns="mesh", std::size_t id=0) |
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 EigenSTL::vector_Isometry3d &path, colors color, scales scale, 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, colors color, scales scale, 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_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 | publishPath (const std::vector< geometry_msgs::Point > &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 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 | 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::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, colors color, double scale, const std::string &ns="Sphere", std::size_t id=0) |
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, 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::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, const geometry_msgs::Vector3 scale, 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=BLUE, scales scale=MEDIUM, 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 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, double scale=0.1, const std::string &ns="Spheres") |
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, 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, colors color, const geometry_msgs::Vector3 &scale, 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=BLUE, scales scale=MEDIUM, const std::string &ns="Spheres") |
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, const geometry_msgs::Vector3 scale, bool static_id=true) |
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 geometry_msgs::Pose &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 | 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 | 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 | 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 | 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 | 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 least queueSize number of markers ready to be published. 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 (const std::vector< double > &transform6, EulerConvention convention) |
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 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 | 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::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::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 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 Eigen::Isometry3d | convertPointToPose (const Eigen::Vector3d &point) |
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 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, double &x, double &y, double &z, double &roll, double &pitch, double &yaw) |
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 double | dRand (double min, double max) |
Get random between min and max. More... | |
static float | fRand (float min, float max) |
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 (Eigen::Isometry3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds()) |
static void | generateRandomPose (geometry_msgs::Pose &pose, RandomPoseBounds pose_bounds=RandomPoseBounds()) |
Create a random pose within bounds of random_pose_bounds_. More... | |
static geometry_msgs::Pose | getIdentityPose () |
Create a pose of position (0,0,0) and quaternion (0,0,0,1) More... | |
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 const RVIZ_VISUAL_TOOLS_DECL 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... | |
Definition at line 184 of file rviz_visual_tools.h.
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explicit |
Constructor.
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 96 of file rviz_visual_tools.cpp.
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inline |
Deconstructor.
Definition at line 204 of file rviz_visual_tools.h.
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static |
Definition at line 2703 of file rviz_visual_tools.cpp.
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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.
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 2673 of file rviz_visual_tools.cpp.
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static |
Convert a Eigen point to a geometry_msg Point Note: Not thread safe but very convenient.
point |
Definition at line 2664 of file rviz_visual_tools.cpp.
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static |
Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
point |
Definition at line 2628 of file rviz_visual_tools.cpp.
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static |
Convert a Vector3 to a geometry_msg Point Note: Not thread safe but very convenient.
point |
Definition at line 2655 of file rviz_visual_tools.cpp.
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static |
Convert an Eigen point to a 32 bit geometry_msg point Note: Not thread safe but very convenient.
point |
Definition at line 2646 of file rviz_visual_tools.cpp.
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static |
Convert a geometry_msg point to an Eigen point Note: Not thread safe but very convenient.
point |
Definition at line 2637 of file rviz_visual_tools.cpp.
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static |
Convert a geometry_msg point (32bit) to an Eigen pose Note: Not thread safe but very convenient.
pose |
Definition at line 2592 of file rviz_visual_tools.cpp.
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static |
Definition at line 2613 of file rviz_visual_tools.cpp.
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static |
Add an identity rotation matrix to make a point have a full pose.
Definition at line 2602 of file rviz_visual_tools.cpp.
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static |
Convert an Eigen pose to a geometry_msg pose.
pose |
Definition at line 2568 of file rviz_visual_tools.cpp.
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static |
Convert a geometry_msg pose to an Eigen pose Note: Not thread safe but very convenient.
ROS | msg pose |
Definition at line 2580 of file rviz_visual_tools.cpp.
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static |
Convert an Eigen pose to a geometry_msg pose - thread safe.
Eigen | pose - input |
ROS | msg pose - output |
Definition at line 2575 of file rviz_visual_tools.cpp.
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static |
Convert a geometry_msg pose to an Eigen pose - thread safe.
ROS | msg pose - input |
Eigen | pose - output |
Definition at line 2587 of file rviz_visual_tools.cpp.
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static |
Convert an Eigen pose to a geometry_msg point Note: Not thread safe but very convenient.
pose |
Definition at line 2621 of file rviz_visual_tools.cpp.
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static |
Definition at line 2721 of file rviz_visual_tools.cpp.
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static |
Convert an affine3d to xyz rpy components R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard.
input | Eigen pose |
output | vector of size 6 in order xyz rpy |
Definition at line 2715 of file rviz_visual_tools.cpp.
std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::createRandColor | ( | ) | const |
Create a random color that is not too light.
Definition at line 616 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::deleteAllMarkers | ( | ) |
Tell Rviz to clear all markers on a particular display.
Definition at line 110 of file rviz_visual_tools.cpp.
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static |
Get random between min and max.
Definition at line 2834 of file rviz_visual_tools.cpp.
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 854 of file rviz_visual_tools.cpp.
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 859 of file rviz_visual_tools.cpp.
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static |
Definition at line 2840 of file rviz_visual_tools.cpp.
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static |
Create a random rectangular cuboid of some shape.
Definition at line 2742 of file rviz_visual_tools.cpp.
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static |
Definition at line 2755 of file rviz_visual_tools.cpp.
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static |
Create a random pose within bounds of random_pose_bounds_.
Pose | to fill in \parma options bounds on the pose to generate |
Definition at line 2735 of file rviz_visual_tools.cpp.
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inline |
Eigen::Vector3d rviz_visual_tools::RvizVisualTools::getCenterPoint | ( | const Eigen::Vector3d & | a, |
const Eigen::Vector3d & | b | ||
) | const |
Find the center between to points.
point | a - x,y,z in space of a point |
point | b - x,y,z in space of a point |
Definition at line 749 of file rviz_visual_tools.cpp.
std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColor | ( | colors | color | ) | const |
Get the RGB value of standard colors.
color | - an enum pre-defined name of a color |
Definition at line 408 of file rviz_visual_tools.cpp.
std_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColorScale | ( | double | value | ) | const |
Convert a value from [0,1] to a color Green->Red.
Definition at line 650 of file rviz_visual_tools.cpp.
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inline |
Getter for the global scale used for changing size of all markers.
Definition at line 353 of file rviz_visual_tools.h.
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static |
Create a pose of position (0,0,0) and quaternion (0,0,0,1)
Pose | to fill in |
Definition at line 2803 of file rviz_visual_tools.cpp.
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inline |
Getter for PsychedelicMode.
Definition at line 1076 of file rviz_visual_tools.h.
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static |
Get a random color from the list of hardcoded enum color types.
Definition at line 402 of file rviz_visual_tools.cpp.
RemoteControlPtr & rviz_visual_tools::RvizVisualTools::getRemoteControl | ( | ) |
Ability to load remote control on the fly.
Definition at line 2891 of file rviz_visual_tools.cpp.
geometry_msgs::Vector3 rviz_visual_tools::RvizVisualTools::getScale | ( | scales | scale, |
double | marker_scale = 1.0 |
||
) | const |
Get the rviz marker scale of standard sizes.
scale | - an enum pre-defined name of a size |
marker_scale | - amount to scale the scale for accounting for different types of markers |
Definition at line 697 of file rviz_visual_tools.cpp.
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.
point | a - x,y,z in space of a point |
point | b - x,y,z in space of a point |
Definition at line 758 of file rviz_visual_tools.cpp.
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private |
Shared function for initilization by constructors.
Definition at line 102 of file rviz_visual_tools.cpp.
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static |
Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL.
Definition at line 541 of file rviz_visual_tools.cpp.
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static |
Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL.
Definition at line 572 of file rviz_visual_tools.cpp.
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static |
Definition at line 2846 of file rviz_visual_tools.cpp.
void rviz_visual_tools::RvizVisualTools::loadMarkerPub | ( | bool | wait_for_subscriber = false , |
bool | latched = false |
||
) |
Load publishers as needed.
wait_for_subscriber | - whether a sleep for loop should be used to check for connectivity to an external node before proceeding |
Definition at line 307 of file rviz_visual_tools.cpp.
void rviz_visual_tools::RvizVisualTools::loadRemoteControl | ( | ) |
Pre-load remote control.
Definition at line 2900 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::loadRvizMarkers | ( | ) |
Pre-load rviz markers for better efficiency.
Definition at line 131 of file rviz_visual_tools.cpp.
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static |
Test if two Eigen poses are close enough.
pose1 | |
pose2 | |
threshold | - how close in value they must be in order to be considered the same |
Definition at line 2819 of file rviz_visual_tools.cpp.
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static |
Display in the console a transform in quaternions.
Definition at line 2863 of file rviz_visual_tools.cpp.
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static |
Display in the console a transform with full 3x3 rotation matrix.
Definition at line 2879 of file rviz_visual_tools.cpp.
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static |
Display in the console a transform in roll pitch yaw.
Definition at line 2871 of file rviz_visual_tools.cpp.
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static |
Display in the console the x,y,z values of a point.
Definition at line 2858 of file rviz_visual_tools.cpp.
void rviz_visual_tools::RvizVisualTools::prompt | ( | const std::string & | msg | ) |
Wait for user feedback i.e. through a button or joystick.
Definition at line 2886 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishABCDPlane | ( | const double | A, |
const double | B, | ||
const double | C, | ||
const double | D, | ||
colors | color = TRANSLUCENT , |
||
double | x_width = 1.0 , |
||
double | y_width = 1.0 |
||
) |
Display a plane. Vector (A, B, C) gives the normal to the plane. |D|/|(A,B,C)| gives the distance to plane along that unit normal. The plane equation used is Ax+By+Cz+D=0.
A | - coefficient from Ax+By+Cz+D=0 |
B | - coefficient from Ax+By+Cz+D=0 |
C | - coefficient from Ax+By+Cz+D=0 |
D | - coefficient from Ax+By+Cz+D=0 |
color | - the color of the plane |
x_width | - X-size of the vizualized plane [meters] |
y_width | - Y-size of the visualized plane [meters] |
Definition at line 1005 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1350 of file rviz_visual_tools.cpp.
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 1426 of file rviz_visual_tools.cpp.
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 1356 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishArrow | ( | const geometry_msgs::PoseStamped & | pose, |
colors | color = BLUE , |
||
scales | scale = MEDIUM , |
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double | length = 0.0 , |
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std::size_t | id = 0 |
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) |
Definition at line 1390 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishAxis | ( | const Eigen::Isometry3d & | pose, |
double | length, | ||
double | radius = 0.01 , |
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const std::string & | ns = "Axis" |
||
) |
Definition at line 1496 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishAxis | ( | const Eigen::Isometry3d & | pose, |
scales | scale = MEDIUM , |
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const std::string & | ns = "Axis" |
||
) |
Definition at line 1485 of file rviz_visual_tools.cpp.
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 1491 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1479 of file rviz_visual_tools.cpp.
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private |
Display a red/green/blue coordinate axis - the 'internal' version does not do a batch publish.
pose | - the location to publish the marker with respect to the base frame |
length | - geometry of cylinder |
radius | - geometry of cylinder |
ns | - namespace |
Definition at line 1505 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1459 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishAxisLabeled | ( | const geometry_msgs::Pose & | pose, |
const std::string & | label, | ||
scales | scale = MEDIUM , |
||
colors | color = WHITE |
||
) |
Definition at line 1465 of file rviz_visual_tools.cpp.
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 1540 of file rviz_visual_tools.cpp.
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.
path | - the location to publish each marker with respect to the base frame |
length | - geometry of cylinder |
radius | - geometry of cylinder |
ns | - namespace |
Definition at line 1528 of file rviz_visual_tools.cpp.
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.
pose | - the location and orientation of the cone |
color | - color of the cone |
scale | - size of the cone |
Definition at line 959 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCone | ( | const geometry_msgs::Pose & | pose, |
double | angle, | ||
colors | color = TRANSLUCENT , |
||
double | scale = 1.0 |
||
) |
Definition at line 964 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCuboid | ( | const Eigen::Isometry3d & | pose, |
const Eigen::Vector3d & | size, | ||
colors | color = BLUE |
||
) |
Display a rectangular cuboid.
pose | - pose of the box |
size | - (x, y, z) of the box |
color | - an enum pre-defined name of a color |
Definition at line 1843 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCuboid | ( | const Eigen::Isometry3d & | pose, |
double | depth, | ||
double | width, | ||
double | height, | ||
colors | color = BLUE |
||
) |
Definition at line 1796 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCuboid | ( | const Eigen::Vector3d & | point1, |
const Eigen::Vector3d & | point2, | ||
colors | color = BLUE |
||
) |
Display a rectangular cuboid.
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 |
Definition at line 1743 of file rviz_visual_tools.cpp.
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 1748 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCuboid | ( | const geometry_msgs::Pose & | pose, |
const geometry_msgs::Vector3 & | size, | ||
colors | color = BLUE |
||
) |
Definition at line 1848 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishCuboid | ( | const geometry_msgs::Pose & | pose, |
double | depth, | ||
double | width, | ||
double | height, | ||
colors | color = BLUE |
||
) |
Display a rectangular cuboid.
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 |
Definition at line 1802 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1587 of file rviz_visual_tools.cpp.
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 1559 of file rviz_visual_tools.cpp.
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.
point1 | - starting side of cylinder |
point2 | - end side of cylinder |
color | - an enum pre-defined name of a color |
radius | - geometry of cylinder |
Definition at line 1552 of file rviz_visual_tools.cpp.
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 1565 of file rviz_visual_tools.cpp.
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 1593 of file rviz_visual_tools.cpp.
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 1599 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishGraph | ( | const graph_msgs::GeometryGraph & | graph, |
colors | color, | ||
double | radius | ||
) |
Display a graph.
graph | of nodes and edges |
color | - an enum pre-defined name of a color |
radius | - width of cylinders |
Definition at line 1711 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1853 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishLine | ( | const Eigen::Vector3d & | point1, |
const Eigen::Vector3d & | point2, | ||
colors | color, | ||
double | radius | ||
) |
Definition at line 1864 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishLine | ( | const Eigen::Vector3d & | point1, |
const Eigen::Vector3d & | point2, | ||
colors | color = BLUE , |
||
scales | scale = MEDIUM |
||
) |
Definition at line 1859 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishLine | ( | const Eigen::Vector3d & | point1, |
const Eigen::Vector3d & | point2, | ||
const std_msgs::ColorRGBA & | color, | ||
double | radius | ||
) |
Definition at line 1880 of file rviz_visual_tools.cpp.
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 1874 of file rviz_visual_tools.cpp.
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 1890 of file rviz_visual_tools.cpp.
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 1902 of file rviz_visual_tools.cpp.
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 1896 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1922 of file rviz_visual_tools.cpp.
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 1947 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1983 of file rviz_visual_tools.cpp.
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.
marker | - a pre-made marker ready to be published |
Definition at line 839 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishMarkers | ( | visualization_msgs::MarkerArray & | markers | ) |
Display an array of markers, allows reuse of the ROS publisher.
markers |
Definition at line 891 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishMesh | ( | const Eigen::Isometry3d & | pose, |
const shape_msgs::Mesh & | mesh, | ||
colors | color = CLEAR , |
||
double | scale = 1 , |
||
const std::string & | ns = "mesh" , |
||
std::size_t | id = 0 |
||
) |
Display a mesh from triangles and vertices.
pose | - the location to publish the marker with respect to the base frame |
mesh | - shape_msgs::Mesh contains the triangles and vertices |
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 |
Definition at line 1666 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1622 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishMesh | ( | const geometry_msgs::Pose & | pose, |
const shape_msgs::Mesh & | mesh, | ||
colors | color = CLEAR , |
||
double | scale = 1 , |
||
const std::string & | ns = "mesh" , |
||
std::size_t | id = 0 |
||
) |
Definition at line 1672 of file rviz_visual_tools.cpp.
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 1628 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishPath | ( | const EigenSTL::vector_Isometry3d & | path, |
colors | color, | ||
scales | scale, | ||
const std::string & | ns = "Path" |
||
) |
Definition at line 2037 of file rviz_visual_tools.cpp.
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 2085 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishPath | ( | const EigenSTL::vector_Vector3d & | path, |
colors | color, | ||
scales | scale, | ||
const std::string & | ns = "Path" |
||
) |
Definition at line 2043 of file rviz_visual_tools.cpp.
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 2067 of file rviz_visual_tools.cpp.
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.
path | - a series of points to connect with cylinders |
colors | - a series of colors |
radius | - the radius of the cylinders |
ns | - namespace of marker |
Definition at line 2103 of file rviz_visual_tools.cpp.
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 2128 of file rviz_visual_tools.cpp.
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 2031 of file rviz_visual_tools.cpp.
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 2049 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2019 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2153 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1167 of file rviz_visual_tools.cpp.
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 1219 of file rviz_visual_tools.cpp.
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 1181 of file rviz_visual_tools.cpp.
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 1173 of file rviz_visual_tools.cpp.
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 1225 of file rviz_visual_tools.cpp.
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 1189 of file rviz_visual_tools.cpp.
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 1213 of file rviz_visual_tools.cpp.
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 1203 of file rviz_visual_tools.cpp.
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 1197 of file rviz_visual_tools.cpp.
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 1233 of file rviz_visual_tools.cpp.
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 1258 of file rviz_visual_tools.cpp.
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 2424 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2411 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2479 of file rviz_visual_tools.cpp.
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 2453 of file rviz_visual_tools.cpp.
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 2437 of file rviz_visual_tools.cpp.
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 2447 of file rviz_visual_tools.cpp.
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 2498 of file rviz_visual_tools.cpp.
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 2522 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2516 of file rviz_visual_tools.cpp.
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 2534 of file rviz_visual_tools.cpp.
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 2528 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2186 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2177 of file rviz_visual_tools.cpp.
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 2356 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 2295 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1285 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishXArrow | ( | const geometry_msgs::Pose & | pose, |
colors | color = RED , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1290 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishXArrow | ( | const geometry_msgs::PoseStamped & | pose, |
colors | color = RED , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1295 of file rviz_visual_tools.cpp.
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.
pose | - the position of the plane |
color | - the color of the plane |
scale | - the size of the vizualized plane |
Definition at line 1029 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishXYPlane | ( | const geometry_msgs::Pose & | pose, |
colors | color = TRANSLUCENT , |
||
double | scale = 1.0 |
||
) |
Definition at line 1034 of file rviz_visual_tools.cpp.
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.
pose | - the position of the plane |
color | - the color of the plane |
scale | - the size of the vizualized plane |
Definition at line 1075 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishXZPlane | ( | const geometry_msgs::Pose & | pose, |
colors | color = TRANSLUCENT , |
||
double | scale = 1.0 |
||
) |
Definition at line 1080 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1300 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishYArrow | ( | const geometry_msgs::Pose & | pose, |
colors | color = GREEN , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1306 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishYArrow | ( | const geometry_msgs::PoseStamped & | pose, |
colors | color = GREEN , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1312 of file rviz_visual_tools.cpp.
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.
pose | - the position of the plane |
color | - the color of the plane |
scale | - the size of the vizualized plane |
Definition at line 1121 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishYZPlane | ( | const geometry_msgs::Pose & | pose, |
colors | color = TRANSLUCENT , |
||
double | scale = 1.0 |
||
) |
Definition at line 1126 of file rviz_visual_tools.cpp.
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.
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 |
Definition at line 1320 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishZArrow | ( | const geometry_msgs::Pose & | pose, |
colors | color = BLUE , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1327 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::publishZArrow | ( | const geometry_msgs::PoseStamped & | pose, |
colors | color = BLUE , |
||
scales | scale = MEDIUM , |
||
double | length = 0.0 |
||
) |
Definition at line 1333 of file rviz_visual_tools.cpp.
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 1341 of file rviz_visual_tools.cpp.
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 116 of file rviz_visual_tools.cpp.
|
static |
Convert an enum to its string name equivalent.
Definition at line 594 of file rviz_visual_tools.cpp.
|
inline |
Change the transparency of all markers published.
alpha | - value 0 - 1 where 0 is invisible |
Definition at line 257 of file rviz_visual_tools.h.
|
inline |
Change the global base frame Note: this might reset all your current markers.
name | of frame |
Definition at line 344 of file rviz_visual_tools.h.
|
inline |
Setter for the global scale used for changing size of all markers.
Definition at line 360 of file rviz_visual_tools.h.
void rviz_visual_tools::RvizVisualTools::setLifetime | ( | double | lifetime | ) |
Set the lifetime of markers published to rviz.
lifetime | seconds of how long to show markers. 0 for inifinity |
Definition at line 387 of file rviz_visual_tools.cpp.
|
inline |
Set marker array topic.
Definition at line 226 of file rviz_visual_tools.h.
|
inline |
Setter for PsychedelicMode.
Definition at line 1082 of file rviz_visual_tools.h.
|
static |
Interpolate from [start, end] with value of size steps with current value count.
Definition at line 645 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::trigger | ( | ) |
Trigger the publish function to send out all collected markers.
Definition at line 873 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::triggerEvery | ( | std::size_t | queueSize | ) |
Trigger the publish function to send out all collected markers IF there are at least queueSize number of markers ready to be published. 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.
Definition at line 864 of file rviz_visual_tools.cpp.
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 324 of file rviz_visual_tools.cpp.
void rviz_visual_tools::RvizVisualTools::waitForMarkerPub | ( | double | wait_time | ) |
Definition at line 330 of file rviz_visual_tools.cpp.
bool rviz_visual_tools::RvizVisualTools::waitForSubscriber | ( | const ros::Publisher & | pub, |
double | wait_time = 0.5 , |
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bool | blocking = false |
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Wait until at least one subscriber connects to a publisher.
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 |
Definition at line 336 of file rviz_visual_tools.cpp.
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Definition at line 1121 of file rviz_visual_tools.h.
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Definition at line 1128 of file rviz_visual_tools.h.
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Definition at line 1113 of file rviz_visual_tools.h.
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Definition at line 1119 of file rviz_visual_tools.h.
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Definition at line 1130 of file rviz_visual_tools.h.
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Definition at line 1134 of file rviz_visual_tools.h.
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Definition at line 1131 of file rviz_visual_tools.h.
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Definition at line 1120 of file rviz_visual_tools.h.
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Definition at line 1122 of file rviz_visual_tools.h.
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Definition at line 1136 of file rviz_visual_tools.h.
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Definition at line 1135 of file rviz_visual_tools.h.
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Definition at line 1116 of file rviz_visual_tools.h.
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Definition at line 1112 of file rviz_visual_tools.h.
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Definition at line 1125 of file rviz_visual_tools.h.
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Definition at line 1132 of file rviz_visual_tools.h.
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Definition at line 1101 of file rviz_visual_tools.h.
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Definition at line 1098 of file rviz_visual_tools.h.
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Definition at line 1142 of file rviz_visual_tools.h.
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Definition at line 1107 of file rviz_visual_tools.h.
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Definition at line 1108 of file rviz_visual_tools.h.
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Definition at line 1109 of file rviz_visual_tools.h.
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Definition at line 1104 of file rviz_visual_tools.h.
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Definition at line 1138 of file rviz_visual_tools.h.
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Definition at line 1129 of file rviz_visual_tools.h.
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Definition at line 1137 of file rviz_visual_tools.h.
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Definition at line 1133 of file rviz_visual_tools.h.
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Definition at line 1139 of file rviz_visual_tools.h.