上海硅步ROS连载系列43期 RViz工具使用实操
Rviz教程-Marker:发送基本的形状(C++)
rviz–显示类型-Marker
ROS学习笔记(八)::RVIZ::Interactive Markers: Writing a Simple Interactive Marker Server
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
cd src
catkin_create_pkg using_markers roscpp visualization_msgs
粘贴下面代码到src/basic_shapes.cpp:
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
int main( int argc, char** argv )
{
ros::init(argc, argv, "basic_shapes");
ros::NodeHandle n;
ros::Rate r(1);
ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);
// 设置初始形状为立方体
uint32_t shape = visualization_msgs::Marker::CUBE;
while (ros::ok())
{
visualization_msgs::Marker marker;
// 设置帧 ID和时间戳
marker.header.frame_id = "/my_frame";
marker.header.stamp = ros::Time::now();
// 设置该标记的命名空间和ID,ID应该是独一无二的
// 具有相同命名空间和ID的标记将会覆盖前一个
marker.ns = "basic_shapes";
marker.id = 0;
// 设置标记类型,初始值为立方体。在立方体、球体、箭头和 圆柱体之间循环
marker.type = shape;
// 设置标记行为:ADD(添 加),DELETE(删 除)
marker.action = visualization_msgs::Marker::ADD;
//设置标记位姿。
marker.pose.position.x = 0;
marker.pose.position.y = 0;
marker.pose.position.z = 0;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
// 设置标记的比例,所有方向上尺度1表示1米
marker.scale.x = 1.0;
marker.scale.y = 1.0;
marker.scale.z = 1.0;
//设置标记颜色,确保alpha(不透明度)值不为0
marker.color.r = 0.0f;
marker.color.g = 1.0f;
marker.color.b = 0.0f;
marker.color.a = 1.0;
marker.lifetime = ros::Duration();
// 发布该标记
while (marker_pub.getNumSubscribers() < 1)
{
if (!ros::ok())
{
return 0;
}
ROS_WARN_ONCE("Please create a subscriber to the marker");
sleep(1);
}
marker_pub.publish(marker);
// 在不同形状之间循环
switch (shape)
{
case visualization_msgs::Marker::CUBE:
shape = visualization_msgs::Marker::SPHERE;
break;
case visualization_msgs::Marker::SPHERE:
shape = visualization_msgs::Marker::ARROW;
break;
case visualization_msgs::Marker::ARROW:
shape = visualization_msgs::Marker::CYLINDER;
break;
case visualization_msgs::Marker::CYLINDER:
shape = visualization_msgs::Marker::CUBE;
break;
}
r.sleep();
}
}
编辑using_markers功能包中的CMakeLists.txt,在文件底部添加如下语句:
add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})
cd ~/catkin_ws
catkin_make
rosrun using_markers basic_shapes
rviz
在Rviz界面左侧的显示面板中,将固定坐标系域设置为“/my_frame”,接着点击左下侧的“Add”按钮添加一个标记显示(默认主题名为visualization_marker),你将在3D视图中看到一个每秒随时间变换的标记,如图
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