Simple_marker

源碼

/*
 * Copyright (c) 2011, Willow Garage, Inc.
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// %Tag(fullSource)%
#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>

void processFeedback(
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO_STREAM( feedback->marker_name << " is now at "
      << feedback->pose.position.x << ", " << feedback->pose.position.y
      << ", " << feedback->pose.position.z );
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "simple_marker");

  // create an interactive marker server on the topic namespace simple_marker
  interactive_markers::InteractiveMarkerServer server("simple_marker");

  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_mk";
  int_marker.header.stamp=ros::Time::now();
  int_marker.name = "my_marker";
  int_marker.description = "Simple king 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 = 1.0;
  box_marker.color.g = 0.0;
  box_marker.color.b = 0.0;
  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();

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

分析

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>

首先包含了頭文件延刘，主要是包含了<interactive_markers/interactive_marker_server.h>

void processFeedback(
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO_STREAM( feedback->marker_name << " is now at "
      << feedback->pose.position.x << ", " << feedback->pose.position.y
      << ", " << feedback->pose.position.z );
}

這個在運行的時候就可以看出，是返回交互信息的。

主函數(shù)里：

ros::init(argc, argv, "simple_marker");

ros初始化魏保。

interactive_markers::InteractiveMarkerServer server("simple_marker");

首先建立一個服務(wù)器，它負責(zé)把所有改動告知rviz.

  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_mk";
  int_marker.header.stamp=ros::Time::now();
  int_marker.name = "my_marker";
  int_marker.description = "Simple king Control";

創(chuàng)建一個交互式marker——int_marker;定義了它的frame_id什么的摸屠。

  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 = 1.0;
  box_marker.color.g = 0.0;
  box_marker.color.b = 0.0;
  box_marker.color.a = 1.0;

這個只是個方塊囱淋，用來包含我們的交互式marker，好有個外形餐塘。下面的設(shè)定前面都見過。我現(xiàn)在知道的也不多皂吮，有新的理解再來補充戒傻。

  visualization_msgs::InteractiveMarkerControl box_control;
  box_control.always_visible = true;
  box_control.markers.push_back( box_marker );

這個是非交互式控制，是為了在移動方塊時仍然能顯示方塊蜂筹。最后一句需纳，把這個控制塊添加到了前面建的方塊marker box_marker上。應(yīng)該是把方塊添加到了這個控制上艺挪。

int_marker.controls.push_back( box_control );

又把非交互式控制添加到了交互的marker上不翩。

 visualization_msgs::InteractiveMarkerControl rotate_control;
  rotate_control.name = "move_x";
  rotate_control.interaction_mode =
      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;

又創(chuàng)建了一個交互，用來移動方塊，最后一句口蝠，是創(chuàng)建兩個箭頭來移動器钟。

int_marker.controls.push_back(rotate_control);

把這個控制也添加給交互式marker。

server.insert(int_marker, &processFeedback);

把int_marker添加到了服務(wù)器的收集器妙蔗，并且讓服務(wù)器在有feedback到來的時候調(diào)用反饋函數(shù)傲霸。

server.applyChanges();

服務(wù)器提交改變并發(fā)送到所有的客戶端。

ros::spin();

開啟ROS主循環(huán)

總結(jié)

整個交互式的marker分為以下幾部分：

• 交互式部分：就是交互式marker的主體眉反，所有的其他部分都要添加到它上面來昙啄，組成一個交互式主體，它的信息也就是主體信息寸五。
• Marker部分：這個是顯示的主體梳凛，相當(dāng)于是個外包裝。
• non-control部分：它是用來承載marker部分的梳杏。
  我原本想把中間一段程序改成這樣：

// 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 );
  int_marker.markers.push_back( box_marker );

結(jié)果發(fā)現(xiàn)int_marker沒有markers這個屬性韧拒，所以需要一個non-control。

• 一個control，這個control就是用來控制可交互marker的

最后裁赠，將marker注冊到服務(wù)器的collection摩桶，服務(wù)器會監(jiān)視它的狀態(tài)，它有什么改變雇初，都會被通告服務(wù)器調(diào)用processFeedback

然后使服務(wù)器將改變發(fā)送到所有客戶端。