rviz學習筆記（一）——Markers: Sending Basic Shapes (C++) 發送基礎形狀

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一、建立一個包——進行marker練習

1、建立ROS工作空間和包

mkdir -p ~/catkin_ws/src       #建立工作空間目錄#建立ROS資料包catkin_create_pkg using_markers roscpp visualization_msgs   #開啟包根目錄，進行編譯cd ~/catkin_wscatkin_make

 

 

2、編寫cpp檔案，向rviz發送資料

vim ~/catkin_ws/src/using_marker/src/using_markers.cpp

 

　　貼入代碼，代碼中已經附加相關注釋

#include <ros/ros.h>#include <visualization_msgs/Marker.h>           //可視化int main( int argc, char** argv ){  //初始化ROS，幷且建立一個ROS::Publisher 在話題visualization_marker上面  ros::init(argc, argv, "basic_shapes");  ros::NodeHandle n;  ros::Rate r(1);  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);  // Set our initial shape type to be a cube  // 初始化形狀為立方體  uint32_t shape = visualization_msgs::Marker::CUBE;  while (ros::ok())  {    //執行個體化一個Marker    visualization_msgs::Marker marker;    // Set the frame ID and timestamp.  See the TF tutorials for information on these.    // 設定frame ID 和 時間戳記    marker.header.frame_id = "/my_frame";    marker.header.stamp = ros::Time::now();    // Set the namespace and id for this marker.  This serves to create a unique ID    // Any marker sent with the same namespace and id will overwrite the old one    // 為這個marker設定一個獨一無二的ID，一個marker接收到相同ns和id就會用新的資訊代替舊的    marker.ns = "basic_shapes";    marker.id = 0;    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER    // 設定marker類型，初始化是立方體。將進行迴圈    marker.type = shape;    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)    marker.action = visualization_msgs::Marker::ADD;    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header    // 設定marker的位置    marker.pose.position.x = 0;    marker.pose.position.y = 0;    marker.pose.position.z = 0;    marker.pose.orientation.x = 0.0;    marker.pose.orientation.y = 0.0;    marker.pose.orientation.z = 0.0;    marker.pose.orientation.w = 1.0;    // Set the scale of the marker -- 1x1x1 here means 1m on a side    // 設定marker的大小    marker.scale.x = 1.0;    marker.scale.y = 1.0;    marker.scale.z = 1.0;    // Set the color -- be sure to set alpha to something non-zero!    // 設定marker的顏色    marker.color.r = 0.0f;    marker.color.g = 1.0f;    marker.color.b = 0.0f;    marker.color.a = 1.0;    //取消自動刪除    marker.lifetime = ros::Duration();    // Publish the marker    // 必須有訂閱者才會發布訊息    while (marker_pub.getNumSubscribers() < 1)    {      if (!ros::ok())      {        return 0;      }      ROS_WARN_ONCE("Please create a subscriber to the marker");      sleep(1);    }    marker_pub.publish(marker);    // Cycle between different shapes    // 連續改變形狀    switch (shape)    {    case visualization_msgs::Marker::CUBE:      shape = visualization_msgs::Marker::SPHERE;      break;    case visualization_msgs::Marker::SPHERE:      shape = visualization_msgs::Marker::ARROW;      break;    case visualization_msgs::Marker::ARROW:      shape = visualization_msgs::Marker::CYLINDER;      break;    case visualization_msgs::Marker::CYLINDER:      shape = visualization_msgs::Marker::CUBE;      break;    }    r.sleep();  }}

 

　　在CMakeList.txt檔案中加入

add_executable(basic_shapes src/basic_shapes.cpp)target_link_libraries(basic_shapes ${catkin_LIBRARIES})

 

 

 

3、進行rviz設定

（1）開啟roscore

（2）運行編寫的發布器

rosrun using_marker basic_shapes

 

（3）重設rviz，運行rviz

rosmake rvizrosrun rviz rviz

 

（4）在rviz中進行設定

 

4、rviz最終效果顯示：4個圖形進行連續的變換

一、建立一個包——進行marker練習

1、建立ROS工作空間和包

mkdir -p ~/catkin_ws/src       #建立工作空間目錄#建立ROS資料包catkin_create_pkg using_markers roscpp visualization_msgs   #開啟包根目錄，進行編譯cd ~/catkin_wscatkin_make

 

2、編寫cpp檔案，向rviz發送資料

vim ~/catkin_ws/src/using_marker/src/using_markers.cpp

　　貼入代碼，代碼中已經附加相關注釋

#include <ros/ros.h>#include <visualization_msgs/Marker.h>           //可視化int main( int argc, char** argv ){  //初始化ROS，幷且建立一個ROS::Publisher 在話題visualization_marker上面  ros::init(argc, argv, "basic_shapes");  ros::NodeHandle n;  ros::Rate r(1);  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);  // Set our initial shape type to be a cube  // 初始化形狀為立方體  uint32_t shape = visualization_msgs::Marker::CUBE;  while (ros::ok())  {    //執行個體化一個Marker    visualization_msgs::Marker marker;    // Set the frame ID and timestamp.  See the TF tutorials for information on these.    // 設定frame ID 和 時間戳記    marker.header.frame_id = "/my_frame";    marker.header.stamp = ros::Time::now();    // Set the namespace and id for this marker.  This serves to create a unique ID    // Any marker sent with the same namespace and id will overwrite the old one    // 為這個marker設定一個獨一無二的ID，一個marker接收到相同ns和id就會用新的資訊代替舊的    marker.ns = "basic_shapes";    marker.id = 0;    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER    // 設定marker類型，初始化是立方體。將進行迴圈    marker.type = shape;    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)    marker.action = visualization_msgs::Marker::ADD;    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header    // 設定marker的位置    marker.pose.position.x = 0;    marker.pose.position.y = 0;    marker.pose.position.z = 0;    marker.pose.orientation.x = 0.0;    marker.pose.orientation.y = 0.0;    marker.pose.orientation.z = 0.0;    marker.pose.orientation.w = 1.0;    // Set the scale of the marker -- 1x1x1 here means 1m on a side    // 設定marker的大小    marker.scale.x = 1.0;    marker.scale.y = 1.0;    marker.scale.z = 1.0;    // Set the color -- be sure to set alpha to something non-zero!    // 設定marker的顏色    marker.color.r = 0.0f;    marker.color.g = 1.0f;    marker.color.b = 0.0f;    marker.color.a = 1.0;    //取消自動刪除    marker.lifetime = ros::Duration();    // Publish the marker    // 必須有訂閱者才會發布訊息    while (marker_pub.getNumSubscribers() < 1)    {      if (!ros::ok())      {        return 0;      }      ROS_WARN_ONCE("Please create a subscriber to the marker");      sleep(1);    }    marker_pub.publish(marker);    // Cycle between different shapes    // 連續改變形狀    switch (shape)    {    case visualization_msgs::Marker::CUBE:      shape = visualization_msgs::Marker::SPHERE;      break;    case visualization_msgs::Marker::SPHERE:      shape = visualization_msgs::Marker::ARROW;      break;    case visualization_msgs::Marker::ARROW:      shape = visualization_msgs::Marker::CYLINDER;      break;    case visualization_msgs::Marker::CYLINDER:      shape = visualization_msgs::Marker::CUBE;      break;    }    r.sleep();  }}

　　在CMakeList.txt檔案中加入

add_executable(basic_shapes src/basic_shapes.cpp)target_link_libraries(basic_shapes ${catkin_LIBRARIES})

 

 

3、進行rviz設定

（1）開啟roscore

（2）運行編寫的發布器

rosrun using_marker basic_shapes

（3）重設rviz，運行rviz

rosmake rvizrosrun rviz rviz

（4）在rviz中進行設定

 

4、rviz最終效果顯示：4個圖形進行連續的變換

 

rviz學習筆記（一）——Markers: Sending Basic Shapes (C++) 發送基礎形狀