Marker.cpp
Go to the documentation of this file.00001 00002 #include <ros/ros.h> 00003 #include <visualization_msgs/Marker.h> 00004 00005 int main( int argc, char** argv ) 00006 { 00007 ros::init(argc, argv, "basic_shapes"); 00008 ros::NodeHandle n; 00009 ros::Rate r(1); 00010 ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1); 00011 00012 // Set our initial shape type to be a cube 00013 uint32_t shape = visualization_msgs::Marker::SPHERE; 00014 00015 ROS_INFO("Publishing markers"); 00016 00017 double x = 0; 00018 double y = 0; 00019 double z = 0; 00020 00021 if (argc > 1) { 00022 x = atof(argv[1]); 00023 y = atof(argv[2]); 00024 z = atof(argv[3]); 00025 } 00026 00027 while (ros::ok()) 00028 { 00029 visualization_msgs::Marker marker; 00030 // Set the frame ID and timestamp. See the TF tutorials for information on these. 00031 marker.header.frame_id = "/r_gripper_r_finger_tip_link"; 00032 marker.header.stamp = ros::Time::now(); 00033 00034 // Set the namespace and id for this marker. This serves to create a unique ID 00035 // Any marker sent with the same namespace and id will overwrite the old one 00036 marker.ns = "basic_shapes"; 00037 marker.id = 0; 00038 00039 // Set the marker type. Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER 00040 marker.type = shape; 00041 00042 // Set the marker action. Options are ADD and DELETE 00043 marker.action = visualization_msgs::Marker::ADD; 00044 00045 // Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header 00046 marker.pose.position.x = x; 00047 marker.pose.position.y = y; 00048 marker.pose.position.z = z; 00049 marker.pose.orientation.x = 0.0; 00050 marker.pose.orientation.y = 0.0; 00051 marker.pose.orientation.z = 0.0; 00052 marker.pose.orientation.w = 1.0; 00053 00054 // Set the scale of the marker -- 1x1x1 here means 1m on a side 00055 marker.scale.x = 0.001; 00056 marker.scale.y = 0.001; 00057 marker.scale.z = 0.001; 00058 00059 // Set the color -- be sure to set alpha to something non-zero! 00060 marker.color.r = 1.0f; 00061 marker.color.g = 0.0f; 00062 marker.color.b = 0.0f; 00063 marker.color.a = 1.0; 00064 00065 marker.lifetime = ros::Duration(); 00066 00067 // Publish the marker 00068 marker_pub.publish(marker); 00069 00070 // Cycle between different shapes 00071 if (0) 00072 switch (shape) 00073 { 00074 case visualization_msgs::Marker::CUBE: 00075 shape = visualization_msgs::Marker::SPHERE; 00076 break; 00077 case visualization_msgs::Marker::SPHERE: 00078 shape = visualization_msgs::Marker::ARROW; 00079 break; 00080 case visualization_msgs::Marker::ARROW: 00081 shape = visualization_msgs::Marker::CYLINDER; 00082 break; 00083 case visualization_msgs::Marker::CYLINDER: 00084 shape = visualization_msgs::Marker::CUBE; 00085 break; 00086 } 00087 00088 r.sleep(); 00089 } 00090 }