예제 #1
0
 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)
예제 #2
0
 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)
예제 #3
0
    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)
예제 #4
0
 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)
예제 #5
0
 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)
예제 #6
0
  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)