Rviz可视化交互之Maker（一）

#!/usr/bin/env python#coding=utf-8"""这个例子是简单的在Rviz中显示一个Marker"""import rospy#导入显示消息类型，这里主要是Marker消息类型from visualization_msgs.msg import *#mainif __name__=="__main__":#初始化节点，anonymous为True，避免重复名字rospy.init_node("cube", anonymous=True)#发布频率rate = rospy.Rate(20)#定义发布者，发布话题：/cube，消息类型是：Marker,消息队列长度：10marker_pub = rospy.Publisher("/cube", Marker, queue_size=10)rospy.loginfo("Initializing...")#定义一个marker对象，并初始化各种Marker的特性marker = Marker()#指定Marker的参考框架marker.header.frame_id = "/map"#时间戳marker.header.stamp = rospy.Time.now()#ns代表namespace，命名空间可以避免重复名字引起的错误marker.ns = "basic_shapes"#Marker的id号marker.id = 0#Marker的类型，有ARROW，CUBE等marker.type = Marker.CYLINDER#Marker的尺寸，单位是mmarker.scale.x = 0.2marker.scale.y = 0.2marker.scale.z = 0.4#Marker的动作类型有ADD，DELETE等marker.action = Marker.ADD#Marker的位置姿态marker.pose.position.x = 0.0marker.pose.position.y = 0.0marker.pose.position.z = 0.2marker.pose.orientation.x = 0.0marker.pose.orientation.y = 0.0marker.pose.orientation.z = 0.0marker.pose.orientation.w = 1.0#Marker的颜色和透明度marker.color.r = 0.0marker.color.g = 0.8marker.color.b = 0.0marker.color.a = 0.5#Marker被自动销毁之前的存活时间，rospy.Duration()意味着在程序结束之前一直存在marker.lifetime = rospy.Duration()#循环发布while not rospy.is_shutdown():#发布Markermarker_pub.publish(marker)#控制发布频率rate.sleep()"""下面是Marker.msg的消息类型的参数说明：# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rvizuint8 ARROW=0uint8 CUBE=1uint8 SPHERE=2uint8 CYLINDER=3uint8 LINE_STRIP=4uint8 LINE_LIST=5uint8 CUBE_LIST=6uint8 SPHERE_LIST=7uint8 POINTS=8uint8 TEXT_VIEW_FACING=9uint8 MESH_RESOURCE=10uint8 TRIANGLE_LIST=11uint8 ADD=0uint8 MODIFY=0uint8 DELETE=2#uint8 DELETEALL=3 # TODO: enable for ROS-J, disabled for now but functionality is still there. Allows one to clear all markers in pluginHeader header                        # header for time/frame informationstring ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the objectint32 id                             # object ID useful in conjunction with the namespace for manipulating and deleting the object laterint32 type                           # Type of objectint32 action                         # 0 add/modify an object, 1 (deprecated), 2 deletes an object, 3 deletes all objectsgeometry_msgs/Pose pose              # Pose of the objectgeometry_msgs/Vector3 scale          # Scale of the object 1,1,1 means default (usually 1 meter square)std_msgs/ColorRGBA color             # Color [0.0-1.0]duration lifetime                    # How long the object should last before being automatically deleted.  0 means foreverbool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)geometry_msgs/Point[] points#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)#number of colors must either be 0 or equal to the number of points#NOTE: alpha is not yet usedstd_msgs/ColorRGBA[] colors# NOTE: only used for text markersstring text# NOTE: only used for MESH_RESOURCE markersstring mesh_resourcebool mesh_use_embedded_materials参考：[1]:http://wiki.ros.org/rviz/DisplayTypes/Marker#Sphere_List_.28SPHERE_LIST.3D7.29[2]:http://wiki.ros.org/rviz/Tutorials"""