ROS专题----数据可视化rviz简明笔记

$ tree -L 3
.
├── interactive_marker_tutorials
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── scripts
│   │   ├── basic_controls.py
│   │   ├── cube.py
│   │   ├── menu.py
│   │   └── simple_marker.py
│   └── src
│       ├── basic_controls.cpp
│       ├── cube.cpp
│       ├── menu.cpp
│       ├── point_cloud.cpp
│       ├── pong.cpp
│       ├── selection.cpp
│       └── simple_marker.cpp
├── librviz_tutorial
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── rosdoc.yaml
│   └── src
│       ├── doc
│       ├── main.cpp
│       ├── myviz.cpp
│       └── myviz.h
├── rviz_plugin_tutorials
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── icons
│   │   └── classes
│   ├── media
│   │   └── flag.dae
│   ├── package.xml
│   ├── plugin_description.xml
│   ├── rosdoc.yaml
│   ├── scripts
│   │   └── send_test_msgs.py
│   └── src
│       ├── doc
│       ├── drive_widget.cpp
│       ├── drive_widget.h
│       ├── flag.h
│       ├── imu_display.cpp
│       ├── imu_display.h
│       ├── imu_visual.cpp
│       ├── imu_visual.h
│       ├── plant_flag_tool.cpp
│       ├── plant_flag_tool.h
│       ├── teleop_panel.cpp
│       └── teleop_panel.h
├── rviz_python_tutorial
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── config.myviz
│   ├── doc-src
│   │   ├── conf.py
│   │   ├── index.rst
│   │   ├── myviz.png
│   │   └── tutorialformatter.py
│   ├── myviz.py
│   ├── package.xml
│   └── rosdoc.yaml
├── visualization_marker_tutorials
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── src
│       ├── basic_shapes.cpp
│       └── points_and_lines.cpp
└── visualization_tutorials
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    └── package.xml

18 directories, 57 files

import rospy

from interactive_markers.interactive_marker_server import *
from visualization_msgs.msg import *

def processFeedback(feedback):
    p = feedback.pose.position
    print feedback.marker_name + " is now at " + str(p.x) + ", " + str(p.y) + ", " + str(p.z)

if __name__=="__main__":
    rospy.init_node("simple_marker")
    
    # create an interactive marker server on the topic namespace simple_marker
    server = InteractiveMarkerServer("simple_marker")
    
    # create an interactive marker for our server
    int_marker = InteractiveMarker()
    int_marker.header.frame_id = "base_link"
    int_marker.name = "my_marker"
    int_marker.description = "Simple 1-DOF Control"

    # create a grey box marker
    box_marker = Marker()
    box_marker.type = Marker.CUBE
    box_marker.scale.x = 0.45
    box_marker.scale.y = 0.45
    box_marker.scale.z = 0.45
    box_marker.color.r = 0.0
    box_marker.color.g = 0.5
    box_marker.color.b = 0.5
    box_marker.color.a = 1.0

    # create a non-interactive control which contains the box
    box_control = InteractiveMarkerControl()
    box_control.always_visible = True
    box_control.markers.append( box_marker )

    # add the control to the interactive marker
    int_marker.controls.append( box_control )

    # create a control which will move the box
    # this control does not contain any markers,
    # which will cause RViz to insert two arrows
    rotate_control = InteractiveMarkerControl()
    rotate_control.name = "move_x"
    rotate_control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS

    # add the control to the interactive marker
    int_marker.controls.append(rotate_control);

    # add the interactive marker to our collection &
    # tell the server to call processFeedback() when feedback arrives for it
    server.insert(int_marker, processFeedback)

    # 'commit' changes and send to all clients
    server.applyChanges()

    rospy.spin()

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>

void processFeedback(
    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO_STREAM( feedback->marker_name << " is now at "
      << feedback->pose.position.x << ", " << feedback->pose.position.y
      << ", " << feedback->pose.position.z );
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "simple_marker");

  // create an interactive marker server on the topic namespace simple_marker
  interactive_markers::InteractiveMarkerServer server("simple_marker");

  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.header.stamp=ros::Time::now();
  int_marker.name = "my_marker";
  int_marker.description = "Simple 1-DOF Control";

  // create a grey box marker
  visualization_msgs::Marker box_marker;
  box_marker.type = visualization_msgs::Marker::CUBE;
  box_marker.scale.x = 0.45;
  box_marker.scale.y = 0.45;
  box_marker.scale.z = 0.45;
  box_marker.color.r = 0.5;
  box_marker.color.g = 0.5;
  box_marker.color.b = 0.5;
  box_marker.color.a = 1.0;

  // create a non-interactive control which contains the box
  visualization_msgs::InteractiveMarkerControl box_control;
  box_control.always_visible = true;
  box_control.markers.push_back( box_marker );

  // add the control to the interactive marker
  int_marker.controls.push_back( box_control );

  // create a control which will move the box
  // this control does not contain any markers,
  // which will cause RViz to insert two arrows
  visualization_msgs::InteractiveMarkerControl rotate_control;
  rotate_control.name = "move_x";
  rotate_control.interaction_mode =
      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;

  // add the control to the interactive marker
  int_marker.controls.push_back(rotate_control);

  // add the interactive marker to our collection &
  // tell the server to call processFeedback() when feedback arrives for it
  server.insert(int_marker, &processFeedback);

  // 'commit' changes and send to all clients
  server.applyChanges();

  // start the ROS main loop
  ros::spin();
}