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- #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);
- // Set our initial shape type to be a cube
- uint32_t shape = visualization_msgs::Marker::CYLINDER;
- while (ros::ok())
- {
- visualization_msgs::Marker marker;
- // Set the frame ID and timestamp. See the TF tutorials for information on these.
- marker.header.frame_id = "/base_link";
- marker.header.stamp = ros::Time::now();
- // Set the namespace and id for this marker. This serves to create a unique ID
- // Any marker sent with the same namespace and id will overwrite the old one
- marker.ns = "basic_shapes";
- marker.id = 0;
- // Set the marker type. Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
- marker.type = shape;
- // Set the marker action. Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
- marker.action = visualization_msgs::Marker::ADD;
- // Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header
- marker.pose.position.x = 0.4;
- marker.pose.position.y = 0;
- marker.pose.position.z = 0.04;
- marker.pose.orientation.x = 0.0;
- marker.pose.orientation.y = 0.0;
- marker.pose.orientation.z = 0.0;
- marker.pose.orientation.w = 1.0;
- // Set the scale of the marker -- 1x1x1 here means 1m on a side
- marker.scale.x = 0.04;
- marker.scale.y = 0.04;
- marker.scale.z = 0.08;
- // Set the color -- be sure to set alpha to something non-zero!
- marker.color.r = 0.95f;
- marker.color.g = 0.95f;
- marker.color.b = 0.75f;
- marker.color.a = 1.0;
- marker.lifetime = ros::Duration();
- // Publish the marker
- 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);
- marker.pose.position.x = 0.8;
- marker.id = 1;
- marker_pub.publish(marker);
- r.sleep();
- }
- }
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