test_rviz.py
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00001 #!/usr/bin/env python
00002 
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00034 
00035 import roslib; roslib.load_manifest('flyer_common')
00036 import rospy
00037 from visualization_msgs.msg import Marker
00038 from flyer_common.rviz import ellipsoid_marker, mesh_marker
00039 from tf.transformations import quaternion_from_euler
00040 from math import radians
00041 
00042 class TestRviz:
00043     def __init__(self):
00044         rospy.init_node('test_rviz')
00045         self.marker_pub = rospy.Publisher("test_markers", Marker)
00046         
00047     def test_markers(self):
00048 #        test_ellipsoid = ellipsoid_marker([0,0,0], frame_id="/map")
00049 #        self.marker_pub.publish(test_ellipsoid)
00050         quat = quaternion_from_euler(radians(-90),radians(-90),0,'rxyz')
00051         test_mesh = mesh_marker([1,0,0], orientation=quat, mesh_resource="file:///tmp/hybridlab.dae", frame_id="/map",
00052                                 rgba=[1,1,1,0.5])
00053         self.marker_pub.publish(test_mesh)
00054         
00055     def go(self):
00056         r = rospy.Rate(10)
00057         while not rospy.is_shutdown():
00058             self.test_markers()
00059             r.sleep()
00060     
00061 if __name__ == "__main__":
00062     self = TestRviz()
00063     self.go()


flyer_common
Author(s): Patrick Bouffard
autogenerated on Sun Jan 5 2014 11:37:49