Rviz Draw Bounding Box Python
Markers: Points and Lines (C++)
Description: Teaches how to utilize the visualization_msgs/Mark message to send points and lines to rviz.
Tutorial Level: BEGINNER
Next Tutorial: Interactive Markers: Getting Started
Contents
- Intro
- Using Points, Line Strips, and Line Lists
- The Lawmaking
- The Code Explained
- Viewing the Markers
- Next Steps
Intro
In the Markers: Bones Shapes you learned how to send elementary shapes to rviz using visualization markers. You can ship more than than only simple shapes though, and this tutorial will introduce you to the POINTS, LINE_STRIP and LINE_LIST marking types. For a full list of types, run into the Marker Display page.
Using Points, Line Strips, and Line Lists
The POINTS, LINE_STRIP and LINE_LIST markers all utilise the points member of the visualization_msgs/Mark bulletin. The POINTS type places a point at each betoken added. The LINE_STRIP type uses each point equally a vertex in a continued set of lines, where betoken 0 is connected to point 1, 1 to 2, 2 to 3, etc. The LINE_LIST blazon creates unconnected lines out of each pair of points, i.due east. point 0 to ane, 2 to 3, etc.
Anyway, allow'due south get to the code:
The Code
https://code.ros.org/svn/ros-pkg/stacks/visualization_tutorials/body/visualization_marker_tutorials/src/points_and_lines.cpp
xxx # include <ros / ros.h> 31 # include <visualization_msgs / Marker.h> 32 33 # include <cmath> 34 35 int chief( int argc, char** argv ) 36 { 37 ros::init(argc, argv, " points_and_lines "); 38 ros::NodeHandle n; 39 ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>(" visualization_marker ", 10); twoscore 41 ros::Rate r(xxx); 42 43 float f = 0.0; 44 while (ros::ok()) 45 { 46 47 visualization_msgs::Marker points, line_strip, line_list; 48 points.header.frame_id = line_strip.header.frame_id = line_list.header.frame_id = " /my_frame "; 49 points.header.stamp = line_strip.header.stamp = line_list.header.postage stamp = ros::Time::now(); 50 points.ns = line_strip.ns = line_list.ns = " points_and_lines "; 51 points.activity = line_strip.action = line_list.activity = visualization_msgs::Marker::Add together; 52 points.pose.orientation.w = line_strip.pose.orientation.w = line_list.pose.orientation.west = 1.0; 53 54 55 56 points.id = 0; 57 line_strip.id = 1; 58 line_list.id = ii; 59 lx 61 62 points.type = visualization_msgs::Marker::POINTS; 63 line_strip.type = visualization_msgs::Marker::LINE_STRIP; 64 line_list.type = visualization_msgs::Marker::LINE_LIST; 65 66 67 68 69 points.scale.x = 0.2; lxx points.calibration.y = 0.2; 71 72 73 line_strip.calibration.x = 0.1; 74 line_list.scale.ten = 0.1; 75 76 77 78 79 points.colour.g = one.0f; 80 points.color.a = 1.0; 81 82 83 line_strip.color.b = 1.0; 84 line_strip.color.a = 1.0; 85 86 87 line_list.color.r = i.0; 88 line_list.color.a = i.0; 89 90 91 92 93 for (uint32_t i = 0; i < 100; ++i) 94 { 95 float y = v * sin(f + i / 100.0f * 2 * M_PI); 96 float z = 5 * cos(f + i / 100.0f * 2 * M_PI); 97 98 geometry_msgs::Bespeak p; 99 p.x = (int32_t)i - l; 100 p.y = y; 101 p.z = z; 102 103 points.points.push_back(p); 104 line_strip.points.push_back(p); 105 106 107 line_list.points.push_back(p); 108 p.z += ane.0; 109 line_list.points.push_back(p); 110 } 111 112 113 marker_pub.publish(points); 114 marker_pub.publish(line_strip); 115 marker_pub.publish(line_list); 116 117 r.sleep(); 118 119 f += 0.04; 120 } 121 } 122 The Code Explained
Now let'southward break downwards the code, skipping things that were explained in the previous tutorial. The overall effect created is a rotating helix with lines sticking upwards from each vertex.
47 visualization_msgs::Marker points, line_strip, line_list; 48 points.header.frame_id = line_strip.header.frame_id = line_list.header.frame_id = " /my_frame "; 49 points.header.postage stamp = line_strip.header.postage stamp = line_list.header.stamp = ros::Fourth dimension::at present(); 50 points.ns = line_strip.ns = line_list.ns = " points_and_lines "; 51 points.activity = line_strip.activeness = line_list.action = visualization_msgs::Marker::Add together; 52 points.pose.orientation.west = line_strip.pose.orientation.westward = line_list.pose.orientation.westward = 1.0; 53 Here we create 3 visualization_msgs/Marker messages and initialize all of their shared data. Nosotros accept advantage of the fact that message members default to 0 and only set the w member of the pose.
56 points.id = 0; 57 line_strip.id = 1; 58 line_list.id = 2; 59 Nosotros assign three different ids to the three markers. The use of the points_and_lines namespace ensures they won't collide with other broadcasters.
62 points.type = visualization_msgs::Marker::POINTS; 63 line_strip.type = visualization_msgs::Marker::LINE_STRIP; 64 line_list.type = visualization_msgs::Marker::LINE_LIST; 65 Here we set the marker types to POINTS, LINE_STRIP and LINE_LIST.
68 69 points.scale.x = 0.two; 70 points.scale.y = 0.ii; 71 72 73 line_strip.calibration.x = 0.ane; 74 line_list.scale.x = 0.ane; 75 The calibration member ways different things for these marker types. The POINTS marker uses the ten and y members for width and height respectively, while the LINE_STRIP and LINE_LIST markers only use the x component, which defines the line width. Scale values are in meters.
78 79 points.colour.g = 1.0f; eighty points.colour.a = one.0; 81 82 83 line_strip.color.b = 1.0; 84 line_strip.colour.a = one.0; 85 86 87 line_list.color.r = 1.0; 88 line_list.colour.a = ane.0; 89 Here nosotros fix the points to green, the line strip to bluish, and the line list to red.
92 93 for (uint32_t i = 0; i < 100; ++i) 94 { 95 float y = 5 * sin(f + i / 100.0f * ii * M_PI); 96 float z = 5 * cos(f + i / 100.0f * 2 * M_PI); 97 98 geometry_msgs::Signal p; 99 p.10 = (int32_t)i - 50; 100 p.y = y; 101 p.z = z; 102 103 points.points.push_back(p); 104 line_strip.points.push_back(p); 105 106 107 line_list.points.push_back(p); 108 p.z += 1.0; 109 line_list.points.push_back(p); 110 } 111 We utilize sine and cosine to generate a helix. The POINTS and LINE_STRIP markers both require only a point for each vertex, while the LINE_LIST marker requires ii.
Viewing the Markers
Set rviz the aforementioned mode you did in the final tutorial, which is as follows:
Edit the CMakeLists.txt file in your using_markers bundle, and add to the bottom:
rosbuild_add_executable(points_and_lines src/points_and_lines.cpp)
And then,
rosmake using_markers points_and_lines rosrun using_markers points_and_lines rosrun rviz rviz
You should see a rotating helix that looks something similar this:
Next Steps
The Marker Display page has a list of all the markers and options supported by rviz. Try out some of the other markers!
Source: http://library.isr.ist.utl.pt/docs/roswiki/rviz(2f)Tutorials(2f)Markers(3a20)Points(20)and(20)Lines.html
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