（十）ROS在rviz中显示空间中的直线（visualization_msgs/Marker 消息）

来源：互联网发布：淘宝类目编辑：程序博客网时间：2024/06/05 11:37

参考维基上的代码
http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines

本文修改代码实现更简单的示例，显示一排直线。效果如下：

1.效果

这里写图片描述

2.实现

（1）主函数代码如下

#include <ros/ros.h>#include <visualization_msgs/Marker.h>#include <cmath>int main( int argc, char** argv ){  ros::init(argc, argv, "showline");  ros::NodeHandle n;  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 10);  visualization_msgs::Marker line_list;  ros::Rate r(60);  float f = 0.0;  while (ros::ok())  {    line_list.header.frame_id = "odom";    line_list.header.stamp = ros::Time::now();    line_list.ns = "lines";    line_list.action = visualization_msgs::Marker::ADD;    line_list.pose.orientation.w = 1.0;    line_list.id = 2;    line_list.type = visualization_msgs::Marker::LINE_LIST;    // LINE_STRIP/LINE_LIST markers use only the x component of scale, for the line width    line_list.scale.x = 0.1;    // Line list is red    line_list.color.r = 1.0;    line_list.color.a = 1.0;    // Create the vertices for the points and lines    geometry_msgs::Point p;    p.x = f;    p.y = 0;    p.z = 0;    // The line list needs two points for each line    line_list.points.push_back(p);    p.z += 3.0;    line_list.points.push_back(p);    marker_pub.publish(line_list);    r.sleep();    f += 1.0;  }}

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