Class InteractiveMarkerServer

Nested Relationships

Nested Types

Class Documentation

class InteractiveMarkerServer

A server to one or many clients (e.g. rviz) displaying a set of interactive markers.

Note that changes made by calling insert(), erase(), setCallback() etc. are not applied until calling applyChanges().

Public Types

typedef visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr FeedbackConstSharedPtr
typedef std::function<void(FeedbackConstSharedPtr)> FeedbackCallback

Public Functions

INTERACTIVE_MARKERS_PUBLIC InteractiveMarkerServer(const std::string &topic_namespace, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface, const rclcpp::QoS &update_pub_qos = rclcpp::QoS(100), const rclcpp::QoS &feedback_sub_qos = rclcpp::QoS(1))

Constructor.

Parameters:

  • topic_namepsace – The namespace for the ROS services and topics used for communication with interactive marker clients.

  • base_interface – Node base interface.

  • clock_interface – Node clock interface.

  • logging_interface – Node logging interface.

  • topics_interface – Node topics interface.

  • service_interface – Node service interface.

  • update_pub_qos – QoS settings for the update publisher.

  • feedback_sub_qos – QoS settings for the feedback subscription.

template<typename NodePtr>
inline InteractiveMarkerServer(const std::string &topic_namespace, NodePtr node, const rclcpp::QoS &update_pub_qos = rclcpp::QoS(100), const rclcpp::QoS &feedback_sub_qos = rclcpp::QoS(1))
INTERACTIVE_MARKERS_PUBLIC ~InteractiveMarkerServer()

Destruction of the interface will lead to all managed markers being cleared.

INTERACTIVE_MARKERS_PUBLIC void insert (const visualization_msgs::msg::InteractiveMarker &marker)

Add or replace a marker without changing its callback functions.

Note, changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters:

marker – The marker to be added or replaced.

INTERACTIVE_MARKERS_PUBLIC void insert (const visualization_msgs::msg::InteractiveMarker &marker, FeedbackCallback feedback_callback, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)

Add or replace a marker and its callback functions.

Note, changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters:

  • marker – The marker to be added or replaced.

  • feedback_callback – Function to call on the arrival of a feedback message.

  • feedback_type – Type of feedback for which to call the feedback callback.

INTERACTIVE_MARKERS_PUBLIC bool setPose (const std::string &name, const geometry_msgs::msg::Pose &pose, const std_msgs::msg::Header &header=std_msgs::msg::Header())

Update the pose of a marker by name.

Note, this change will not take effect until you call applyChanges().

Parameters:

  • name – Name of the interactive marker to update.

  • pose – The new pose.

  • header – Header replacement. Leave this empty to use the previous one.

Returns:

true if a marker with the provided name exists, false otherwise.

INTERACTIVE_MARKERS_PUBLIC bool erase (const std::string &name)

Erase a marker by name.

Note, this change will not take effect until you call applyChanges().

Parameters:

name – Name of the interactive marker to erase.

Returns:

true if a marker with the provided name exists, false otherwise.

INTERACTIVE_MARKERS_PUBLIC void clear ()

Clear all markers.

Note, this change will not take effect until you call applyChanges().

INTERACTIVE_MARKERS_PUBLIC bool empty () const

Return whether the server contains any markers.

Does not include markers inserted since the last applyChanges().

Returns:

true if the server contains no markers, false otherwise.

INTERACTIVE_MARKERS_PUBLIC std::size_t size () const

Return the number of markers contained in the server.

Does not include markers inserted since the last applyChanges().

Returns:

The number of markers contained in the server.

INTERACTIVE_MARKERS_PUBLIC bool setCallback (const std::string &name, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)

Add or replace a callback function for a marker.

Note, this change will not take effect until you call applyChanges(). The server will try to call any type-specific callback first. If none is set, it will call the default callback. If a callback for the given type already exists, it will be replaced. To unset a type-specific callback, pass in an empty one.

Parameters:

  • name – Name of an existing interactive marker.

  • feedback_callback – Function to call on the arrival of a feedback message.

  • feedback_type – Type of feedback for which to call the feedback callback. Leave this empty to make this the default callback.

Returns:

true if the setting the callback was successful, false if the provided name does not match an existing marker.

INTERACTIVE_MARKERS_PUBLIC void applyChanges ()

Apply changes made since the last call to this method and broadcast an update to all clients.

INTERACTIVE_MARKERS_PUBLIC bool get (const std::string &name, visualization_msgs::msg::InteractiveMarker &int_marker) const

Get a marker by name.

Parameters:

  • name – [in] Name of the interactive marker.

  • marker – [out] Output message. Not set if a marker with the provided name does not exist.

Returns:

true if a marker with the provided name exists, false otherwise.

Public Static Attributes

static const uint8_t DEFAULT_FEEDBACK_CB = 255