def __init__(self, frame_id, name, description, is_manager=False, speed=0.2):
InteractiveMarker.__init__(self)
self.header.frame_id = frame_id
self.name = name
self.description = description
self.speed = speed
self.marker = Marker()
self.marker.type = Marker.CYLINDER
self.marker.scale.x = 0.1
self.marker.scale.y = 0.1
self.marker.scale.z = 0.4
self.marker.pose.position.z = 0.20
if is_manager:
self.marker.color.r = 0.8
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.5
else:
self.marker.color.r = 0.0
self.marker.color.g = 0.8
self.marker.color.b = 0.0
self.marker.color.a = 0.5
self.marker_control = InteractiveMarkerControl()
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.markers.append(self.marker)
self.marker_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append(self.marker_control)
def __init__(self, frame_id, name, description, is_manager=False):
InteractiveMarker.__init__(self)
self.header.frame_id = frame_id
self.name = name
self.description = description
self.marker = Marker()
self.marker.type = Marker.CYLINDER
self.marker.scale.x = 0.1
self.marker.scale.y = 0.1
self.marker.scale.z = 0.4
self.marker.pose.position.z = 0.20
if is_manager:
self.marker.color.r = 0.8
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.5
else:
self.marker.color.r = 0.0
self.marker.color.g = 0.8
self.marker.color.b = 0.0
self.marker.color.a = 0.5
self.marker_control = InteractiveMarkerControl()
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.markers.append(self.marker)
self.marker_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append(self.marker_control)
def __init__(self,
frame_id,
name,
description,
is_manager=False,
speed=0.2):
InteractiveMarker.__init__(self)
marker_scale_x = rospy.get_param('~marker_scale_x', 1.0)
marker_scale_y = rospy.get_param('~marker_scale_y', 0.2)
marker_scale_z = rospy.get_param('~marker_scale_z', 0.2)
print "Marker scales " + str(marker_scale_x) + ", " + str(
marker_scale_y) + ", " + str(marker_scale_z)
self.header.frame_id = frame_id
self.name = name
self.description = description
self.speed = speed
self.marker = Marker()
self.marker.type = Marker.ARROW
self.marker.scale.x = marker_scale_x
self.marker.scale.y = marker_scale_y
self.marker.scale.z = marker_scale_z
#self.marker.pose.position.z = 0.20
if is_manager:
self.marker.color.r = 0.8
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.5
else:
self.marker.color.r = 0.0
self.marker.color.g = 0.8
self.marker.color.b = 0.0
self.marker.color.a = 0.5
self.marker_control = InteractiveMarkerControl()
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.name = "move_plane"
self.marker_control.markers.append(self.marker)
self.marker_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append(self.marker_control)
self.marker_control2 = InteractiveMarkerControl()
self.marker_control2.orientation.w = 1
self.marker_control2.orientation.x = 0
self.marker_control2.orientation.y = 1
self.marker_control2.orientation.z = 0
self.marker_control2.name = "rotate_z"
self.marker_control2.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
self.controls.append(self.marker_control2)
def __init__(self, marker_type="mesh"):
"""[InteractiveMarker for Waypoints. Moves in SE2, can be a sphere or a flag. Has a red arrow]
Args:
marker_type (str, optional): [marker type "mesh" or "sphere"]. Defaults to "mesh".
"""
InteractiveMarker.__init__(self)
self.scale = params["control_scale"].data
self._setup_markers()
self._setup_controls()
def __init__(self,
frame_id,
name,
description,
is_manager=False,
speed=0.2,
mission_point=MissionPoint(),
point_description=''):
InteractiveMarker.__init__(self)
self.header.frame_id = frame_id
self.name = name
self.description = description
self.point_description = point_description
self.speed = speed
self.marker = Marker()
self.is_manager = is_manager
if is_manager:
self.marker.type = Marker.CUBE
self.marker.scale.x = 0.15
self.marker.scale.y = 0.15
self.marker.scale.z = 0.6
self.marker.pose.position.z = 0.3
self.marker.color.r = 1.0
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.7
else:
self.marker.type = Marker.CYLINDER
self.marker.scale.x = 0.1
self.marker.scale.y = 0.1
self.marker.scale.z = 0.4
self.marker.pose.position.z = 0.20
self.marker.color.r = 0.0
self.marker.color.g = 1.0
self.marker.color.b = 0.0
self.marker.color.a = 0.7
self.marker_control = InteractiveMarkerControl()
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.markers.append(self.marker)
self.marker_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.mission_point = mission_point
self.controls.append(self.marker_control)
def __init__(self,
frame_id,
name,
description,
is_manager=False,
speed=0.2):
InteractiveMarker.__init__(self)
marker_scale_x = rospy.get_param("~marker_scale_x", 0.2)
marker_scale_y = rospy.get_param("~marker_scale_y", 0.2)
marker_scale_z = rospy.get_param("~marker_scale_z", 0.5)
self.header.frame_id = frame_id
self.name = name
self.description = description
self.speed = speed
self.marker = Marker()
self.marker.type = Marker.CYLINDER
self.marker.scale.x = marker_scale_x
self.marker.scale.y = marker_scale_y
self.marker.scale.z = marker_scale_z
self.marker.pose.position.z = 0.0
if is_manager:
self.marker.color.r = 0.8
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.8
else:
self.marker.color.r = 0.0
self.marker.color.g = 0.8
self.marker.color.b = 0.0
self.marker.color.a = 0.8
self.marker_control = InteractiveMarkerControl()
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.markers.append(self.marker)
self.marker_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append(self.marker_control)
def __init__(self, name, description, is_manager = False, is_editable = False):
InteractiveMarker.__init__(self)
marker_scale_x = rospy.get_param('~marker_scale_x', 0.5)
marker_scale_y = rospy.get_param('~marker_scale_y', 0.15)
marker_scale_z = rospy.get_param('~marker_scale_z', 0.15)
self.header.frame_id = frame_id
self.name = name
self.description = 'POI: %s'%description
#marker arrow
self.marker = Marker()
self.marker.type = Marker.ARROW
self.marker.scale.x = marker_scale_x
self.marker.scale.y = marker_scale_y
self.marker.scale.z = marker_scale_z
##Text of markers
control = InteractiveMarkerControl()
control.always_visible = True
marker_name = Marker()
marker_name.type = Marker.TEXT_VIEW_FACING
if is_manager:
#arrow color
self.marker.color.r = 0.8
self.marker.color.g = 0.0
self.marker.color.b = 0.0
self.marker.color.a = 0.5
self.marker.scale.x = 1
self.marker.scale.y = 0.2
self.marker.scale.z = 0.2
#interactive marker move_plane
self.marker_move_control = InteractiveMarkerControl()
self.marker_move_control.always_visible = True
self.marker_move_control.orientation.w = 1
self.marker_move_control.orientation.x = 0
self.marker_move_control.orientation.y = 1
self.marker_move_control.orientation.z = 0
self.marker_move_control.name = "move_plane"
self.marker_move_control.markers.append( self.marker )
self.marker_move_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append( self.marker_move_control )
#interactive marker rotate_z
self.marker_rotate_control = InteractiveMarkerControl()
self.marker_rotate_control.orientation.w = 1
self.marker_rotate_control.orientation.x = 0
self.marker_rotate_control.orientation.y = 1
self.marker_rotate_control.orientation.z = 0
self.marker_rotate_control.name = "rotate_z"
self.marker_rotate_control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
self.controls.append( self.marker_rotate_control )
#control of text marker
control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 1
control.orientation.z = 0
elif is_editable:
#arrow color
self.marker.color.r = 0.8
self.marker.color.g = 0.8
self.marker.color.b = 0.0
self.marker.color.a = 0.75
self.marker.scale.x = 1
self.marker.scale.y = 0.2
self.marker.scale.z = 0.2
#interactive marker move_plane
self.marker_move_control = InteractiveMarkerControl()
self.marker_move_control.always_visible = True
self.marker_move_control.orientation.w = 1
self.marker_move_control.orientation.x = 0
self.marker_move_control.orientation.y = 1
self.marker_move_control.orientation.z = 0
self.marker_move_control.name = "move_plane"
self.marker_move_control.markers.append( self.marker )
self.marker_move_control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
self.controls.append( self.marker_move_control )
#interactive marker rotate_z
self.marker_rotate_control = InteractiveMarkerControl()
self.marker_rotate_control.orientation.w = 1
self.marker_rotate_control.orientation.x = 0
self.marker_rotate_control.orientation.y = 1
self.marker_rotate_control.orientation.z = 0
self.marker_rotate_control.name = "rotate_z"
self.marker_rotate_control.interaction_mode = InteractiveMarkerControl.ROTATE_AXIS
self.controls.append( self.marker_rotate_control )
#control of text marker
control.interaction_mode = InteractiveMarkerControl.MOVE_PLANE
control.orientation.w = 1
control.orientation.x = 0
control.orientation.y = 1
control.orientation.z = 0
else:
self.marker.color.r = 0.0
self.marker.color.g = 0.7
self.marker.color.b = 0.0
self.marker.color.a = 0.5
control.interaction_mode = InteractiveMarkerControl.FIXED
self.marker_control = InteractiveMarkerControl()
self.marker_control.name = 'menu'
self.marker_control.always_visible = True
self.marker_control.orientation.w = 1
self.marker_control.orientation.x = 0
self.marker_control.orientation.y = 1
self.marker_control.orientation.z = 0
self.marker_control.markers.append( self.marker )
self.marker_control.interaction_mode = InteractiveMarkerControl.MENU
self.controls.append( self.marker_control )
#color of text
marker_name.text = name
marker_name.color.a = 0.95
marker_name.scale.x = 0.35
marker_name.scale.y = 0.1
marker_name.scale.z = 0.1
marker_name.pose.position.x =0
marker_name.pose.position.y =0
marker_name.pose.position.z =0.2
control.markers.append(marker_name)
self.controls.append(control)
