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 makeInteractiveMarkerControl(interactive_marker, mode):
interactive_marker_control = InteractiveMarkerControl()
interactive_marker_control.always_visible = True
interactive_marker_control.interaction_mode = mode
interactive_marker.controls.append(interactive_marker_control)
return interactive_marker_control
def makeInteractiveMarkerControl(interactive_marker, mode):
interactive_marker_control = InteractiveMarkerControl()
interactive_marker_control.always_visible = True
interactive_marker_control.interaction_mode = mode
interactive_marker.controls.append(interactive_marker_control)
return interactive_marker_control
