def buildMessage(self, stamp):
cube = initMarker(baseFrameId=self._frameId, markerNamespace=self._markerNamespace, markerId=self._markerId, stamp=stamp, markerType=Marker.CUBE)
cube.scale.x = self._scale[0]
cube.scale.y = self._scale[1]
cube.scale.z = self._scale[2]
cube.pose = self._pose
cube.color = ColorRGBA(*self._color)
return cube
def buildMessage(self, stamp):
lines = initMarker(baseFrameId=self._frameId, markerNamespace=self._markerNamespace, markerId=self._markerId, stamp=stamp, markerType=Marker.LINE_LIST)
lines.scale.x = self._lineWidth
for p, color in itertools.izip(self._points, self._colors):
lines.points.append(Point(*p))
lines.colors.append(ColorRGBA(*color))
return lines
def buildMessage(self, stamp):
spheres = initMarker(baseFrameId=self._frameId, markerNamespace=self._markerNamespace, markerId=self._markerId, stamp=stamp, markerType=Marker.SPHERE_LIST)
spheres.scale.x = self._radius
for c, color, time in self._spheres:
spheres.points.append(Point(*c))
spheres.colors.append(ColorRGBA(*color))
return spheres
def buildMessage(self, stamp):
triangles = initMarker(baseFrameId=self._frameId, markerNamespace=self._markerNamespace, markerId=self._markerId, stamp=stamp, markerType=Marker.TRIANGLE_LIST)
for p, color in itertools.izip(self._points, self._colors):
triangles.points.append(Point(*p))
triangles.colors.append(ColorRGBA(*color))
# There seems to a be a bug so that the alpha channel for every object is taken from to global color entry
triangles.color = ColorRGBA(*color)
return triangles
def buildMessage(self, stamp):
text = initMarker(baseFrameId=self._frameId,
markerNamespace=self._markerNamespace,
markerId=self._markerId,
stamp=stamp,
markerType=Marker.TEXT_VIEW_FACING)
text.scale.z = self._scale
text.pose.position.x = self._position[0]
text.pose.position.y = self._position[1]
text.pose.position.z = self._position[2]
# This next line is awesome
text.text = self._text
return text
def buildMessage(self, stamp):
cframes = initMarker( baseFrameId=self._frameId,
markerNamespace=self._markerNamespace,
markerId=self._markerId,
stamp=stamp,
markerType=Marker.LINE_LIST)
cframes.scale.x = self._lineWidth
for pr in self._edgePointPairs:
cframes.points.append(pr[0])
cframes.points.append(pr[1])
cframes.colors.append(self._defaultColor)
cframes.colors.append(self._defaultColor)
return cframes
