def update(self, offset, x, y, z, r, color):
marker = VisualizationMarker()
marker.header.frame_id = "base"
marker.id = self.id + offset
marker.type = 2
marker.action = 0
marker.x = x
marker.y = y
marker.z = z
marker.yaw = 0
marker.pitch = 0
marker.roll = 0
marker.xScale = r
marker.yScale = r
marker.zScale = r
marker.alpha = 255
marker.r = color[0]
marker.g = color[1]
marker.b = color[2]
marker.points = []
vm_pub.publish(marker)
marker.zScale = 0
marker.z = -tableh
marker.id += 200
marker.r = 0
marker.g = 0
marker.b = 0
vm_pub.publish(marker)
def linestrip(self, offset, points, color):
marker = VisualizationMarker()
marker.header.frame_id = "base"
marker.id = self.id + offset
marker.type = 4
marker.action = 0
marker.x = 0
marker.y = 0
marker.z = 0
marker.yaw = 0
marker.pitch = 0
marker.roll = 0
marker.xScale = .1
marker.yScale = 1
marker.zScale = 1
marker.alpha = 255
marker.r = color[0]
marker.g = color[1]
marker.b = color[2]
marker.points = points
vm_pub.publish(marker)
marker.points = [Position(p.x, p.y, -tableh) for p in points]
marker.id += 200
marker.r = 0
marker.g = 0
marker.b = 0
vm_pub.publish(marker)
def floor(self):
marker = VisualizationMarker()
marker.header.frame_id = "base"
marker.id = self.id + 99999
marker.type = 1
marker.action = 0
marker.x = 0
marker.y = 0
marker.z = -(5 + tableh + .1)
marker.yaw = 0
marker.pitch = 0
marker.roll = 0
marker.xScale = 10
marker.yScale = 10
marker.zScale = 10
marker.alpha = 255
marker.r = 0.3 * 255
marker.g = 0.4 * 255
marker.b = 0.7 * 255
marker.points = []
vm_pub.publish(marker)
