def init_int_marker(self):
self.ims = InteractiveMarkerServer("simple_marker")
self.im = InteractiveMarker()
self.im.header.frame_id = "/ned"
self.im.name = "my_marker"
self.im.description = "Simple 1-DOF control"
bm = Marker()
bm.type = Marker.CUBE
bm.scale.x = bm.scale.y = bm.scale.z = 0.45
bm.color.r = 0.0
bm.color.g = 0.5
bm.color.b = 0.5
bm.color.a = 1.0
bc = InteractiveMarkerControl()
bc.always_visible = True
bc.markers.append(bm)
self.im.controls.append(bc)
rc = InteractiveMarkerControl()
rc.name = "move_x"
rc.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
self.im.controls.append(rc)
self.ims.insert(self.im, self.process_marker_feedback)
self.ims.applyChanges()
def make_6DOF_marker(int_marker):
"""
Creates a 6DOF InteractiveMarkerControl that can be translated and rotated.
Parameters:
int_marker: a previously created InteractiveMarker to attach the new marker
to.
"""
#x movement
control = InteractiveMarkerControl()
control.name = "move_x"
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
control.orientation.w = 1
control.orientation.x = 1
control.orientation.y = 0
control.orientation.z = 0
int_marker.controls.append(control);
#x rotation
control = InteractiveMarkerControl()
control.name = "rotate_x"
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
control.orientation.w = 1
control.orientation.x = 1
control.orientation.y = 0
control.orientation.z = 0
int_marker.controls.append(control);
#y movement
control = InteractiveMarkerControl()
control.name = "move_y"
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 1
control.orientation.z = 0
int_marker.controls.append(control);
#y rotation
control = InteractiveMarkerControl()
control.name = "rotate_y"
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 1
control.orientation.z = 0
int_marker.controls.append(control);
#z movement
control = InteractiveMarkerControl()
control.name = "move_z"
control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 0
control.orientation.z = 1
int_marker.controls.append(control);
#z rotation
control = InteractiveMarkerControl()
control.name = "rotate_z"
control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 0
control.orientation.z = 1
int_marker.controls.append(control);
