test_rviz.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('flyer_common')
import rospy
from visualization_msgs.msg import Marker
from flyer_common.rviz import ellipsoid_marker, mesh_marker
from tf.transformations import quaternion_from_euler
from math import radians

class TestRviz:
    def __init__(self):
        rospy.init_node('test_rviz')
        self.marker_pub = rospy.Publisher("test_markers", Marker)
        
    def test_markers(self):
#        test_ellipsoid = ellipsoid_marker([0,0,0], frame_id="/map")
#        self.marker_pub.publish(test_ellipsoid)
        quat = quaternion_from_euler(radians(-90),radians(-90),0,'rxyz')
        test_mesh = mesh_marker([1,0,0], orientation=quat, mesh_resource="file:///tmp/hybridlab.dae", frame_id="/map",
                                rgba=[1,1,1,0.5])
        self.marker_pub.publish(test_mesh)
        
    def go(self):
        r = rospy.Rate(10)
        while not rospy.is_shutdown():
            self.test_markers()
            r.sleep()
    
if __name__ == "__main__":
    self = TestRviz()
    self.go()