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