def make_interactive_marker(pose, model): int_marker = InteractiveMarker() int_marker.name = model int_marker.description = model int_marker.header.frame_id = "map" int_marker.pose = pose int_marker.pose.position.z = max(int_marker.pose.position.z, 0.01) # ensure marker is above ground int_marker.pose.orientation = quaternion_msg_from_yaw( yaw(pose)) # discard all but yaw to ensure marker is flat int_marker.scale = 1 make_model_control(int_marker, model) control = InteractiveMarkerControl() control.name = "drag" control.orientation.w = 1 control.orientation.x = 0 control.orientation.y = 1 control.orientation.z = 0 normalize_quaternion(control.orientation) control.interaction_mode = InteractiveMarkerControl.MOVE_ROTATE int_marker.controls.append(copy.deepcopy(control)) control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS int_marker.controls.append(control) server.insert(int_marker, process_feedback) menu_handler.apply(server, int_marker.name) return int_marker
def create_trajectory_marker(self, traj): # create an interactive marker for our server int_marker = InteractiveMarker() int_marker.header.frame_id = "/map" int_marker.name = traj.uuid # int_marker.description = traj.uuid pose = Pose() pose.position.x = traj.pose[0]['position']['x'] pose.position.y = traj.pose[0]['position']['y'] int_marker.pose = pose line_marker = Marker() line_marker.type = Marker.LINE_STRIP line_marker.scale.x = 0.05 # random.seed(traj.uuid) # val = random.random() # line_marker.color.r = r_func(val) # line_marker.color.g = g_func(val) # line_marker.color.b = b_func(val) # line_marker.color.a = 1.0 line_marker.points = [] MOD = 3 for i, point in enumerate(traj.pose): if i % MOD == 0: x = point['position']['x'] y = point['position']['y'] p = Point() p.x = x - int_marker.pose.position.x p.y = y - int_marker.pose.position.y line_marker.points.append(p) line_marker.colors = [] for i, vel in enumerate(traj.vel): if i % MOD == 0: color = ColorRGBA() if traj.max_vel == 0: val = vel / 0.01 else: val = vel / traj.max_vel color.r = r_func(val) color.g = g_func(val) color.b = b_func(val) color.a = 1.0 line_marker.colors.append(color) # create a control which will move the box # this control does not contain any markers, # which will cause RViz to insert two arrows control = InteractiveMarkerControl() control.markers.append(line_marker) int_marker.controls.append(control) return int_marker
def create_trajectory_marker(self, traj): # create an interactive marker for our server int_marker = InteractiveMarker() int_marker.header.frame_id = "/map" int_marker.name = traj.uuid # int_marker.description = traj.uuid pose = Pose() pose.position.x = traj.pose[0]['position']['x'] pose.position.y = traj.pose[0]['position']['y'] int_marker.pose = pose # for i in range(len(traj.pose)): # print "Velocity: ", traj.vel[i] # print "X,Y: ", traj.pose[i]['position']['x'],\ # traj.pose[i]['position']['y'] # print "Time: ", str(traj.secs[i]) + "." + str(traj.nsecs[i]) # print traj.max_vel, traj.length line_marker = Marker() line_marker.type = Marker.LINE_STRIP line_marker.scale.x = 0.05 # random.seed(traj.uuid) # val = random.random() # line_marker.color.r = r_func(val) # line_marker.color.g = g_func(val) # line_marker.color.b = b_func(val) # line_marker.color.a = 1.0 line_marker.points = [] MOD = 1 for i, point in enumerate(traj.pose): if i % MOD == 0: x = point['position']['x'] y = point['position']['y'] p = Point() p.x = x - int_marker.pose.position.x p.y = y - int_marker.pose.position.y line_marker.points.append(p) line_marker.colors = [] for i, vel in enumerate(traj.vel): if i % MOD == 0: color = ColorRGBA() if traj.max_vel == 0: val = vel / 0.01 else: val = vel / traj.max_vel color.r = r_func(val) color.g = g_func(val) color.b = b_func(val) color.a = 1.0 line_marker.colors.append(color) # create a control which will move the box # this control does not contain any markers, # which will cause RViz to insert two arrows control = InteractiveMarkerControl() control.markers.append(line_marker) int_marker.controls.append(control) return int_marker