interactive_markers.cpp

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/*
 * interactive_markers.cpp
 *
 *  Created on: 07.06.2012
 *      Author: josh
 */


#include "interactive_markers.h"

using namespace Slam;

InteractiveMarkers::InteractiveMarkers():
    server_("slam_markers")
{

}

template<typename OBJECT_CONTEXT>
void InteractiveMarkers<OBJECT_CONTEXT>::createNode(Node<OBJECT_CONTEXT>::Ptr node)
{

  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "/base_link";
  int_marker.name = "my_marker";
  int_marker.description = "Simple 1-DOF Control";

  // create a grey box marker
  visualization_msgs::Marker box_marker;
  box_marker.type = visualization_msgs::Marker::CUBE;
  box_marker.scale.x = 0.45;
  box_marker.scale.y = 0.45;
  box_marker.scale.z = 0.45;
  box_marker.color.r = 0.5;
  box_marker.color.g = 0.5;
  box_marker.color.b = 0.5;
  box_marker.color.a = 1.0;

  // create a non-interactive control which contains the box
  visualization_msgs::InteractiveMarkerControl box_control;
  box_control.always_visible = true;
  box_control.markers.push_back( box_marker );

  // add the control to the interactive marker
  int_marker.controls.push_back( box_control );

  // create a control which will move the box
  // this control does not contain any markers,
  // which will cause RViz to insert two arrows
  visualization_msgs::InteractiveMarkerControl rotate_control;
  rotate_control.name = "move_x";
  rotate_control.interaction_mode =
      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;

  // add the control to the interactive marker
  int_marker.controls.push_back(rotate_control);

  // add the interactive marker to our collection &
  // tell the server to call processFeedback() when feedback arrives for it
  server.insert(int_marker, &processFeedback);

  // 'commit' changes and send to all clients
  server.applyChanges();
}

int main(int argc, char** argv)
{

  // start the ROS main loop
  ros::spin();
}