ROS学习笔记(七)::RVIZ::Interactive Markers: Basic Controls

作者:u011104647


1.Interactive Markers: Basic Controls基本控件

说明:这篇教程说明base_controls教程代码如何工作


2.basic_controls教程说明:


本教程介绍你在设计交互标志物时最常用的选项。节点将从RViz得到的所有反馈打印到命令行上。

 所有交互标志物包含一个灰色盒子。在大多数情况下,这个灰色盒子会与对照的其余控件一起移动。它会告诉你互动标志物的坐标系如何移动。


3.Simple 6-DOF control简单六自由度控件

这显示了如何控件使用6个独立控件,控件6个自由度。使用环去旋转和箭头移动的结构。


4.Simple 6-DOF control (fixed orientation)简单的六自由度控件(固定方向)


与简单六自由度控件相同,除了控件方向将保持固定,被控件的坐标系的方向独立。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

  48 Marker makeBox( InteractiveMarker &msg )
  49 {
  50   Marker marker;
  51 
  52   marker.type = Marker::CUBE;
  53   marker.scale.x = msg.scale * 0.45;
  54   marker.scale.y = msg.scale * 0.45;
  55   marker.scale.z = msg.scale * 0.45;
  56   marker.color.r = 0.5;
  57   marker.color.g = 0.5;
  58   marker.color.b = 0.5;
  59   marker.color.a = 1.0;
  60 
  61   return marker;
  62 }
  63 
  64 InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
  65 {
  66   InteractiveMarkerControl control;
  67   control.always_visible = true;
  68   control.markers.push_back( makeBox(msg) );
  69   msg.controls.push_back( control );
  70 
  71   return msg.controls.back();
  72 }

 

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp
 
 183 void make6DofMarker( bool fixed, unsigned int interaction_mode, const tf::Vector3& position, bool show_6dof )
 184 {
 185   InteractiveMarker int_marker;
 186   int_marker.header.frame_id = "base_link";
 187   tf::pointTFToMsg(position, int_marker.pose.position);
 188   int_marker.scale = 1;
 189 
 190   int_marker.name = "simple_6dof";
 191   int_marker.description = "Simple 6-DOF Control";
 192 
 193   // insert a box
 194   makeBoxControl(int_marker);
 195   int_marker.controls[0].interaction_mode = interaction_mode;
 196 
 197   InteractiveMarkerControl control;
 198 
 199   if ( fixed )
 200   {
 201     int_marker.name += "_fixed";
 202     int_marker.description += "\n(fixed orientation)";
 203     control.orientation_mode = InteractiveMarkerControl::FIXED;
 204   }
 205 
 206   if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
 207   {
 208       std::string mode_text;
 209       if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_3D )         mode_text = "MOVE_3D";
 210       if( interaction_mode == visualization_msgs::InteractiveMarkerControl::ROTATE_3D )       mode_text = "ROTATE_3D";
 211       if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D )  mode_text = "MOVE_ROTATE_3D";
 212       int_marker.name += "_" + mode_text;
 213       int_marker.description = std::string("3D Control") + (show_6dof ? " + 6-DOF controls" : "") + "\n" + mode_text;
 214   }
 215 
 216   if(show_6dof)
 217   {
 218     control.orientation.w = 1;
 219     control.orientation.x = 1;
 220     control.orientation.y = 0;
 221     control.orientation.z = 0;
 222     control.name = "rotate_x";
 223     control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 224     int_marker.controls.push_back(control);
 225     control.name = "move_x";
 226     control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
 227     int_marker.controls.push_back(control);
 228 
 229     control.orientation.w = 1;
 230     control.orientation.x = 0;
 231     control.orientation.y = 1;
 232     control.orientation.z = 0;
 233     control.name = "rotate_z";
 234     control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 235     int_marker.controls.push_back(control);
 236     control.name = "move_z";
 237     control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
 238     int_marker.controls.push_back(control);
 239 
 240     control.orientation.w = 1;
 241     control.orientation.x = 0;
 242     control.orientation.y = 0;
 243     control.orientation.z = 1;
 244     control.name = "rotate_y";
 245     control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 246     int_marker.controls.push_back(control);
 247     control.name = "move_y";
 248     control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
 249     int_marker.controls.push_back(control);
 250   }
 251 
 252   server->insert(int_marker);
 253   server->setCallback(int_marker.name, &processFeedback);
 254   if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
 255     menu_handler.apply( *server, int_marker.name );
 256 }
</pre><span style="font-family:SimHei; font-size:18px"><span style="white-space:pre"></span>上面的代码段显示了如何构造前两个互动标志物。加入灰色的盒子后,为每个自由度共添加6个控件。没有标记物加入到这些控件,这些控件将导致在RViz创建一组有色环和箭头作为缺省可视化。<span style="white-space:pre"></span>两者之间的唯一区别是,在第二种情况下,模式取向被设置为InteractiveMarkerControl::FIXED,而在第一则留在它的默认值,这是InteractiveMarkerControl::INHERIT。(interit:继承)<span style="white-space:pre"></span>注意,使用此功能构造3D控件(下面会提到)。对于上面显示的简单的6自由度的控件,忽略在if(interaction_mode!= InteractiveMarkerControl:: NONE)句之后的块。注:在上面的代码片段中方向可能会造成混淆。如果计算对应于每个四元数的旋转矩阵,可以验证指定的方向是正确的。5.3D Controls 3D控件<img src="http://img.blog.csdn.net/20151229103601408?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQv/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center" alt="" />这些新的标记物类型用鼠标可以支持各类3D动作。    *MOVE_3D:在本教程中绘制成 箱标记物,这种互动模式允许标记物的3D转换(在相机平面默认情况下,进/出摄像头,同时按住shift。(亲测,只能使单独一个放大缩小))。    ROTATE_3D:在本教程中绘制成箱标记物,这种interacton模式允许标记物的3D旋转(同时按住Shift键时候,默认情况下,可以绕着相机水平面的垂直和水平轴,并绕轴垂直于相机水平面,)。    MOVE_ROTATE_3D:这种互动方式是MOVE_3D(默认)和ROTATE_3D联盟(同时按住Ctrl键)。一个互动的标志物可以有多个冗余的控件方式;在本教程中,盒子是一个3D控件,然而标记物也有一组简单的6自由度的环和箭头组合。<span style="white-space:pre"></span>可以写一个Rviz插件,这个插件允许这些标记物使用6维输入装置进行三维抓取。这些六维输入装置如Phantom Omni或者Razer Hydra。见http://www.ros.org/wiki/interaction_cursor_rviz。</span><p><span style="font-family:SimHei; font-size:18px">6.6-DOF (Arbitrary Axes) 6自由度(任意轴)</span></p><p><span style="font-family:SimHei; font-size:18px"><img src="http://img.blog.csdn.net/20151229103624863?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQv/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center" alt="" /></span></p><span style="font-family:SimHei; font-size:18px"><span style="white-space:pre"></span>显示控件不限于本机的轴,而且可以在任何任意的取向工作。https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp</span><pre dir="ltr" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99" lang="en" style="font-family:courier,monospace; font-size:13px; white-space:pre-wrap; padding:10pt; margin-top:0px; margin-bottom:0px; line-height:1.428571429; color:rgb(51,51,51); word-break:break-all; word-wrap:break-word; border:none; background-color:rgb(243,245,247)"><span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_258" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 258</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_258" style=""></span><span class="anchor" id="line-1-10" style=""></span><span class="ResWord" style="color:rgb(160,0,0)">void</span> <span class="ID" style="color:rgb(0,0,0)">makeRandomDofMarker</span>( <span class="ResWord" style="color:rgb(160,0,0)">const</span> <span class="ID" style="color:rgb(0,0,0)">tf</span>::<span class="ID" style="color:rgb(0,0,0)">Vector3</span>& <span class="ID" style="color:rgb(0,0,0)">position</span> )</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_259" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 259</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_259" style=""></span><span class="anchor" id="line-2-10" style=""></span>{</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_260" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 260</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_260" style=""></span><span class="anchor" id="line-3-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">InteractiveMarker</span> <span class="ID" style="color:rgb(0,0,0)">int_marker</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_261" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 261</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_261" style=""></span><span class="anchor" id="line-4-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">header</span>.<span class="ID" style="color:rgb(0,0,0)">frame_id</span> = <span class="String" style="color:rgb(0,64,128)">"</span><span class="String" style="color:rgb(0,64,128)">base_link</span><span class="String" style="color:rgb(0,64,128)">"</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_262" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 262</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_262" style=""></span><span class="anchor" id="line-5-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">tf</span>::<span class="ID" style="color:rgb(0,0,0)">pointTFToMsg</span>(<span class="ID" style="color:rgb(0,0,0)">position</span>, <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">pose</span>.<span class="ID" style="color:rgb(0,0,0)">position</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_263" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 263</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_263" style=""></span><span class="anchor" id="line-6-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">scale</span> = <span class="Number" style="color:rgb(0,128,192)">1</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_264" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 264</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_264" style=""></span><span class="anchor" id="line-7-10" style=""></span></span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_265" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 265</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_265" style=""></span><span class="anchor" id="line-8-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">name</span> = <span class="String" style="color:rgb(0,64,128)">"</span><span class="String" style="color:rgb(0,64,128)">6dof_random_axes</span><span class="String" style="color:rgb(0,64,128)">"</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_266" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 266</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_266" style=""></span><span class="anchor" id="line-9-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">description</span> = <span class="String" style="color:rgb(0,64,128)">"</span><span class="String" style="color:rgb(0,64,128)">6-DOF</span><span class="SPChar" style="color:rgb(0,0,192)">\n</span><span class="String" style="color:rgb(0,64,128)">(Arbitrary Axes)</span><span class="String" style="color:rgb(0,64,128)">"</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_267" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 267</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_267" style=""></span><span class="anchor" id="line-10-10" style=""></span></span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_268" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 268</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_268" style=""></span><span class="anchor" id="line-11-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">makeBoxControl</span>(<span class="ID" style="color:rgb(0,0,0)">int_marker</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_269" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 269</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_269" style=""></span><span class="anchor" id="line-12-10" style=""></span></span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_270" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 270</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_270" style=""></span><span class="anchor" id="line-13-10" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">InteractiveMarkerControl</span> <span class="ID" style="color:rgb(0,0,0)">control</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_271" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 271</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_271" style=""></span><span class="anchor" id="line-14-10" style=""></span></span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_272" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 272</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_272" style=""></span><span class="anchor" id="line-15-10" style=""></span>  <span class="ResWord" style="color:rgb(160,0,0)">for</span> ( <span class="ResWord" style="color:rgb(160,0,0)">int</span> <span class="ID" style="color:rgb(0,0,0)">i</span>=<span class="Number" style="color:rgb(0,128,192)">0</span>; <span class="ID" style="color:rgb(0,0,0)">i</span><<span class="Number" style="color:rgb(0,128,192)">3</span>; <span class="ID" style="color:rgb(0,0,0)">i</span>++ )</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_273" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 273</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_273" style=""></span><span class="anchor" id="line-16-10" style=""></span>  {</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_274" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 274</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_274" style=""></span><span class="anchor" id="line-17-10" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">orientation</span>.<span class="ID" style="color:rgb(0,0,0)">w</span> = <span class="ID" style="color:rgb(0,0,0)">rand</span>(-<span class="Number" style="color:rgb(0,128,192)">1</span>,<span class="Number" style="color:rgb(0,128,192)">1</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_275" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 275</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_275" style=""></span><span class="anchor" id="line-18-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">orientation</span>.<span class="ID" style="color:rgb(0,0,0)">x</span> = <span class="ID" style="color:rgb(0,0,0)">rand</span>(-<span class="Number" style="color:rgb(0,128,192)">1</span>,<span class="Number" style="color:rgb(0,128,192)">1</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_276" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 276</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_276" style=""></span><span class="anchor" id="line-19-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">orientation</span>.<span class="ID" style="color:rgb(0,0,0)">y</span> = <span class="ID" style="color:rgb(0,0,0)">rand</span>(-<span class="Number" style="color:rgb(0,128,192)">1</span>,<span class="Number" style="color:rgb(0,128,192)">1</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_277" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 277</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_277" style=""></span><span class="anchor" id="line-20-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">orientation</span>.<span class="ID" style="color:rgb(0,0,0)">z</span> = <span class="ID" style="color:rgb(0,0,0)">rand</span>(-<span class="Number" style="color:rgb(0,128,192)">1</span>,<span class="Number" style="color:rgb(0,128,192)">1</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_278" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 278</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_278" style=""></span><span class="anchor" id="line-21-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">interaction_mode</span> = <span class="ID" style="color:rgb(0,0,0)">InteractiveMarkerControl</span>::<span class="ID" style="color:rgb(0,0,0)">ROTATE_AXIS</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_279" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 279</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_279" style=""></span><span class="anchor" id="line-22-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">controls</span>.<span class="ID" style="color:rgb(0,0,0)">push_back</span>(<span class="ID" style="color:rgb(0,0,0)">control</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_280" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 280</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_280" style=""></span><span class="anchor" id="line-23-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">control</span>.<span class="ID" style="color:rgb(0,0,0)">interaction_mode</span> = <span class="ID" style="color:rgb(0,0,0)">InteractiveMarkerControl</span>::<span class="ID" style="color:rgb(0,0,0)">MOVE_AXIS</span>;</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_281" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 281</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_281" style=""></span><span class="anchor" id="line-24-9" style=""></span>    <span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">controls</span>.<span class="ID" style="color:rgb(0,0,0)">push_back</span>(<span class="ID" style="color:rgb(0,0,0)">control</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_282" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 282</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_282" style=""></span><span class="anchor" id="line-25-9" style=""></span>  }</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_283" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 283</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_283" style=""></span><span class="anchor" id="line-26-8" style=""></span></span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_284" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 284</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_284" style=""></span><span class="anchor" id="line-27-8" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">server</span>-><span class="ID" style="color:rgb(0,0,0)">insert</span>(<span class="ID" style="color:rgb(0,0,0)">int_marker</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_285" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 285</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_285" style=""></span><span class="anchor" id="line-28-8" style=""></span>  <span class="ID" style="color:rgb(0,0,0)">server</span>-><span class="ID" style="color:rgb(0,0,0)">setCallback</span>(<span class="ID" style="color:rgb(0,0,0)">int_marker</span>.<span class="ID" style="color:rgb(0,0,0)">name</span>, &<span class="ID" style="color:rgb(0,0,0)">processFeedback</span>);</span>
<span class="line" style=""><span class="LineNumber" style="color:gray"><a target=_blank target="_blank" href="http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Basic%20Controls#CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_286" style="color:rgb(43,127,207); text-decoration:none; border:0px; background:transparent"> 286</a> </span><span class="LineAnchor" id="CA-f42b9500d4c78689d7394e091ccb7d167bfcfa99_286" style=""></span><span class="anchor" id="line-29-8" style=""></span>}</span>

  通过给能够确定每个控件的定向四元数分配随机值来创建在本实施例的控件。 RViz使这些四元数正常化,所以你在创建一个互动标记物时不必担心。


7.View-Facing 6-DOF


这种互动标记物可以在任何方向移动和旋转。与前面的例子不同的,但它是仅使用两个控件。外圈与在RViz的相机视图轴一起旋转。盒子在照相机平面移动,虽然没有在视觉上对准照相机坐标系。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 289 void makeViewFacingMarker( const tf::Vector3& position )
 290 {
 291   InteractiveMarker int_marker;
 292   int_marker.header.frame_id = "base_link";
 293   tf::pointTFToMsg(position, int_marker.pose.position);
 294   int_marker.scale = 1;
 295 
 296   int_marker.name = "view_facing";
 297   int_marker.description = "View Facing 6-DOF";
 298 
 299   InteractiveMarkerControl control;
 300 
 301   // make a control that rotates around the view axis
 302   control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
 303   control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 304   control.orientation.w = 1;
 305   control.name = "rotate";
 306 
 307   int_marker.controls.push_back(control);
 308 
 309   // create a box in the center which should not be view facing,
 310   // but move in the camera plane.
 311   control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
 312   control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
 313   control.independent_marker_orientation = true;
 314   control.name = "move";
 315 
 316   control.markers.push_back( makeBox(int_marker) );
 317   control.always_visible = true;
 318 
 319   int_marker.controls.push_back(control);
 320 
 321   server->insert(int_marker);
 322   server->setCallback(int_marker.name, &processFeedback);
 323 }


8.Quadrocopter四轴飞行器


这种互动标记物有限制的4个自由度组。它可以绕z轴旋转和在所有3维移动。它实现了使用两种控件:在yz平面绿环移动和绕z轴旋转,同时两个另外的箭头的随着Z轴移动。
点击并拖动绿环,看看如何结合运动和旋转的工作原理:如果鼠标光标停留靠近环,它只会旋转。一旦你将它渐行渐远,它会开始跟随鼠标。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 326 void makeQuadrocopterMarker( const tf::Vector3& position )
 327 {
 328   InteractiveMarker int_marker;
 329   int_marker.header.frame_id = "base_link";
 330   tf::pointTFToMsg(position, int_marker.pose.position);
 331   int_marker.scale = 1;
 332 
 333   int_marker.name = "quadrocopter";
 334   int_marker.description = "Quadrocopter";
 335 
 336   makeBoxControl(int_marker);
 337 
 338   InteractiveMarkerControl control;
 339 
 340   control.orientation.w = 1;
 341   control.orientation.x = 0;
 342   control.orientation.y = 1;
 343   control.orientation.z = 0;
 344   control.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE;
 345   int_marker.controls.push_back(control);
 346   control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
 347   int_marker.controls.push_back(control);
 348 
 349   server->insert(int_marker);
 350   server->setCallback(int_marker.name, &processFeedback);
 351 }


交互式标记物的创建类似于前面的例子,只是控件中的一个的交互方式为被设置为MOVE_ROTATE。


9.Chess Piece国际象棋棋子


点击并拖动盒子或周围环,将其移动至xy平面。一旦你松开鼠标按钮,就会捕捉到网格中心。其工作原理是,当它接收到来自RViz姿势,运行在RViz之外的basic_controls服务器将设置交互标记物的姿势为新的值。一旦你停止拖动,RViz将应用此更新。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp 

 

 353 void makeChessPieceMarker( const tf::Vector3& position )
 354 {
 355   InteractiveMarker int_marker;
 356   int_marker.header.frame_id = "base_link";
 357   tf::pointTFToMsg(position, int_marker.pose.position);
 358   int_marker.scale = 1;
 359 
 360   int_marker.name = "chess_piece";
 361   int_marker.description = "Chess Piece\n(2D Move + Alignment)";
 362 
 363   InteractiveMarkerControl control;
 364 
 365   control.orientation.w = 1;
 366   control.orientation.x = 0;
 367   control.orientation.y = 1;
 368   control.orientation.z = 0;
 369   control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
 370   int_marker.controls.push_back(control);
 371 
 372   // make a box which also moves in the plane
 373   control.markers.push_back( makeBox(int_marker) );
 374   control.always_visible = true;
 375   int_marker.controls.push_back(control);
 376 
 377   // we want to use our special callback function
 378   server->insert(int_marker);
 379   server->setCallback(int_marker.name, &processFeedback);
 380 
 381   // set different callback for POSE_UPDATE feedback
 382   server->setCallback(int_marker.name, &alignMarker, visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE );
 383 }

<span style="color: rgb(51, 51, 51); font-family: 'Helvetica Neue', Helvetica, Arial, sans-serif; font-size: 14px; line-height: 20px;">The major difference to the previous example is that an additional feedback function is specified, which will be called instead of </span><span style="box-sizing: border-box; color: rgb(51, 51, 51); font-family: 'Helvetica Neue', Helvetica, Arial, sans-serif; font-size: 14px; line-height: 20px;"><tt class="backtick" style="box-sizing: border-box;">processFeedback()</tt></span><span style="color: rgb(51, 51, 51); font-family: 'Helvetica Neue', Helvetica, Arial, sans-serif; font-size: 14px; line-height: 20px;"> when the pose of the marker gets updated. This function modifies the pose of the marker and sends it back to RViz:</span>

 148 void alignMarker( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
 149 {
 150   geometry_msgs::Pose pose = feedback->pose;
 151 
 152   pose.position.x = round(pose.position.x-0.5)+0.5;
 153   pose.position.y = round(pose.position.y-0.5)+0.5;
 154 
 155   ROS_INFO_STREAM( feedback->marker_name << ":"
 156       << " aligning position = "
 157       << feedback->pose.position.x
 158       << ", " << feedback->pose.position.y
 159       << ", " << feedback->pose.position.z
 160       << " to "
 161       << pose.position.x
 162       << ", " << pose.position.y
 163       << ", " << pose.position.z );
 164 
 165   server->setPose( feedback->marker_name, pose );
 166   server->applyChanges();
 167 }

10.Pan / Tilt平移/倾斜

这个例子表明,你可以在一个交互标记物中将对齐(盒子某一面)的坐标系和固定方向的控件结合。平移控件将永远停留在一个平面,而倾斜控件能够旋转。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 385 void makePanTiltMarker( const tf::Vector3& position )
 386 {
 387   InteractiveMarker int_marker;
 388   int_marker.header.frame_id = "base_link";
 389   tf::pointTFToMsg(position, int_marker.pose.position);
 390   int_marker.scale = 1;
 391 
 392   int_marker.name = "pan_tilt";
 393   int_marker.description = "Pan / Tilt";
 394 
 395   makeBoxControl(int_marker);
 396 
 397   InteractiveMarkerControl control;
 398 
 399   control.orientation.w = 1;
 400   control.orientation.x = 0;
 401   control.orientation.y = 1;
 402   control.orientation.z = 0;
 403   control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 404   control.orientation_mode = InteractiveMarkerControl::FIXED;
 405   int_marker.controls.push_back(control);
 406 
 407   control.orientation.w = 1;
 408   control.orientation.x = 0;
 409   control.orientation.y = 0;
 410   control.orientation.z = 1;
 411   control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 412   control.orientation_mode = InteractiveMarkerControl::INHERIT;
 413   int_marker.controls.push_back(control);
 414 
 415   server->insert(int_marker);
 416   server->setCallback(int_marker.name, &processFeedback);
 417 }



11Context Menu上下文菜单(不知道啥意思)
这个例子显示了如何将一个简单的静态菜单附加到一个交互标记物。如果没有指定自定义标记的可视化(如灰色框的情况下),RViz会创建一个文本标记物浮在交互标记物的上面,你能打开上下文菜单。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 419 void makeMenuMarker( const tf::Vector3& position )
 420 {
 421   InteractiveMarker int_marker;
 422   int_marker.header.frame_id = "base_link";
 423   tf::pointTFToMsg(position, int_marker.pose.position);
 424   int_marker.scale = 1;
 425 
 426   int_marker.name = "context_menu";
 427   int_marker.description = "Context Menu\n(Right Click)";
 428 
 429   InteractiveMarkerControl control;
 430 
 431   control.interaction_mode = InteractiveMarkerControl::MENU;
 432   control.name = "menu_only_control";
 433 
 434   Marker marker = makeBox( int_marker );
 435   control.markers.push_back( marker );
 436   control.always_visible = true;
 437   int_marker.controls.push_back(control);
 438 
 439   server->insert(int_marker);
 440   server->setCallback(int_marker.name, &processFeedback);
 441   menu_handler.apply( *server, int_marker.name );
 442 }



12.Button按钮
Button控件的行为与上例中的菜单控件几乎完全一样。您可以使用此类型以告知用户左击是交互所需的模式。 RViz将使用不同的鼠标光标这种类型的控件(ROS Groovy和以上)。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 444 void makeButtonMarker( const tf::Vector3& position )
 445 {
 446   InteractiveMarker int_marker;
 447   int_marker.header.frame_id = "base_link";
 448   tf::pointTFToMsg(position, int_marker.pose.position);
 449   int_marker.scale = 1;
 450 
 451   int_marker.name = "button";
 452   int_marker.description = "Button\n(Left Click)";
 453 
 454   InteractiveMarkerControl control;
 455 
 456   control.interaction_mode = InteractiveMarkerControl::BUTTON;
 457   control.name = "button_control";
 458 
 459   Marker marker = makeBox( int_marker );
 460   control.markers.push_back( marker );
 461   control.always_visible = true;
 462   int_marker.controls.push_back(control);
 463 
 464   server->insert(int_marker);
 465   server->setCallback(int_marker.name, &processFeedback);
 466 }



13.Marker attached to a moving frame标记附着于活动坐标系
这个例子显示了如果点击一个附加框架的标记物,这个框架随着RViz指定的固定坐标系移动,将会发生什么。点击盒子移动和点击环旋转。对于含框架运动,标记物将继续相对你的鼠标移动,即使你不动它。在交互标记物排头的标记,必须ROS::Time(0)(如果未设置,它在默认情况下是这个,),让rviz将采取最新的TF坐标系来转换它。(最后一句没看懂)

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 468 void makeMovingMarker( const tf::Vector3& position )
 469 {
 470   InteractiveMarker int_marker;
 471   int_marker.header.frame_id = "moving_frame";
 472   tf::pointTFToMsg(position, int_marker.pose.position);
 473   int_marker.scale = 1;
 474 
 475   int_marker.name = "moving";
 476   int_marker.description = "Marker Attached to a\nMoving Frame";
 477 
 478   InteractiveMarkerControl control;
 479 
 480   control.orientation.w = 1;
 481   control.orientation.x = 1;
 482   control.orientation.y = 0;
 483   control.orientation.z = 0;
 484   control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
 485   int_marker.controls.push_back(control);
 486 
 487   control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
 488   control.always_visible = true;
 489   control.markers.push_back( makeBox(int_marker) );
 490   int_marker.controls.push_back(control);
 491 
 492   server->insert(int_marker);
 493   server->setCallback(int_marker.name, &processFeedback);
 494 }



14.The surrounding code周围的代码
要设置服务器节点,所有需要的是创造InteractiveMarkerServer的一个实例,并发送所有InteractiveMarker信息到该对象上。
请注意,在添加,更新或删除交互标记物,他们的姿态,菜单或者反馈函数之后,你必须调用applyChanges()。这将引起InteractiveMarkerServer将所有的sheduled changes应用到其内部状态,并且给所有连接的客户端发送一个更新的消息。这样做是确保在服务器和客户端保持同步状态,并尽量减少在服务器和客户端之间的数据通信。

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

  44 boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
  45 interactive_markers::MenuHandler menu_handler;

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

 496 int main(int argc, char** argv)
 497 {
 498   ros::init(argc, argv, "basic_controls");
 499   ros::NodeHandle n;
 500 
 501   // create a timer to update the published transforms
 502   ros::Timer frame_timer = n.createTimer(ros::Duration(0.01), frameCallback);
 503 
 504   server.reset( new interactive_markers::InteractiveMarkerServer("basic_controls","",false) );
 505 
 506   ros::Duration(0.1).sleep();
 507 
 508   menu_handler.insert( "First Entry", &processFeedback );
 509   menu_handler.insert( "Second Entry", &processFeedback );
 510   interactive_markers::MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Submenu" );
 511   menu_handler.insert( sub_menu_handle, "First Entry", &processFeedback );
 512   menu_handler.insert( sub_menu_handle, "Second Entry", &processFeedback );
 513 
 514   tf::Vector3 position;
 515   position = tf::Vector3(-3, 3, 0);
 516   make6DofMarker( false, visualization_msgs::InteractiveMarkerControl::NONE, position, true );
 517   position = tf::Vector3( 0, 3, 0);
 518   make6DofMarker( true, visualization_msgs::InteractiveMarkerControl::NONE, position, true );
 519   position = tf::Vector3( 3, 3, 0);
 520   makeRandomDofMarker( position );
 521   position = tf::Vector3(-3, 0, 0);
 522   make6DofMarker( false, visualization_msgs::InteractiveMarkerControl::ROTATE_3D, position, false );
 523   position = tf::Vector3( 0, 0, 0);
 524   make6DofMarker( false, visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D, position, true );
 525   position = tf::Vector3( 3, 0, 0);
 526   make6DofMarker( false, visualization_msgs::InteractiveMarkerControl::MOVE_3D, position, false );
 527   position = tf::Vector3(-3,-3, 0);
 528   makeViewFacingMarker( position );
 529   position = tf::Vector3( 0,-3, 0);
 530   makeQuadrocopterMarker( position );
 531   position = tf::Vector3( 3,-3, 0);
 532   makeChessPieceMarker( position );
 533   position = tf::Vector3(-3,-6, 0);
 534   makePanTiltMarker( position );
 535   position = tf::Vector3( 0,-6, 0);
 536   makeMovingMarker( position );
 537   position = tf::Vector3( 3,-6, 0);
 538   makeMenuMarker( position );
 539   position = tf::Vector3( 0,-9, 0);
 540   makeButtonMarker( position );
 541 
 542   server->applyChanges();
 543 
 544   ros::spin();
 545 
 546   server.reset();
 547 }

将定时器设置为更新base_link和moving_frame之间的TF转换,这是在frameCallback()完成的:

https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

  74 void frameCallback(const ros::TimerEvent&)
  75 {
  76   static uint32_t counter = 0;
  77 
  78   static tf::TransformBroadcaster br;
  79 
  80   tf::Transform t;
  81 
  82   ros::Time time = ros::Time::now();
  83 
  84   t.setOrigin(tf::Vector3(0.0, 0.0, sin(float(counter)/140.0) * 2.0));
  85   t.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
  86   br.sendTransform(tf::StampedTransform(t, time, "base_link", "moving_frame"));
  87 
  88   t.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
  89   t.setRotation(tf::createQuaternionFromRPY(0.0, float(counter)/140.0, 0.0));
  90   br.sendTransform(tf::StampedTransform(t, time, "base_link", "rotating_frame"));
  91 
  92   counter++;
  93 }

最后,processFeedback()被用于反馈到达时打印输出到rosconsole:https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp

  95 void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
  96 {
  97   std::ostringstream s;
  98   s << "Feedback from marker '" << feedback->marker_name << "' "
  99       << " / control '" << feedback->control_name << "'";
 100 
 101   std::ostringstream mouse_point_ss;
 102   if( feedback->mouse_point_valid )
 103   {
 104     mouse_point_ss << " at " << feedback->mouse_point.x
 105                    << ", " << feedback->mouse_point.y
 106                    << ", " << feedback->mouse_point.z
 107                    << " in frame " << feedback->header.frame_id;
 108   }
 109 
 110   switch ( feedback->event_type )
 111   {
 112     case visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK:
 113       ROS_INFO_STREAM( s.str() << ": button click" << mouse_point_ss.str() << "." );
 114       break;
 115 
 116     case visualization_msgs::InteractiveMarkerFeedback::MENU_SELECT:
 117       ROS_INFO_STREAM( s.str() << ": menu item " << feedback->menu_entry_id << " clicked" << mouse_point_ss.str() << "." );
 118       break;
 119 
 120     case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:
 121       ROS_INFO_STREAM( s.str() << ": pose changed"
 122           << "\nposition = "
 123           << feedback->pose.position.x
 124           << ", " << feedback->pose.position.y
 125           << ", " << feedback->pose.position.z
 126           << "\norientation = "
 127           << feedback->pose.orientation.w
 128           << ", " << feedback->pose.orientation.x
 129           << ", " << feedback->pose.orientation.y
 130           << ", " << feedback->pose.orientation.z
 131           << "\nframe: " << feedback->header.frame_id
 132           << " time: " << feedback->header.stamp.sec << "sec, "
 133           << feedback->header.stamp.nsec << " nsec" );
 134       break;
 135 
 136     case visualization_msgs::InteractiveMarkerFeedback::MOUSE_DOWN:
 137       ROS_INFO_STREAM( s.str() << ": mouse down" << mouse_point_ss.str() << "." );
 138       break;
 139 
 140     case visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP:
 141       ROS_INFO_STREAM( s.str() << ": mouse up" << mouse_point_ss.str() << "." );
 142       break;
 143   }
 144 
 145   server->applyChanges();
 146 }

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