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1 | initial version |
Here is an example code on how to publish a line as a marker
#!/usr/bin/env python
import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import Point
rospy.init_node('line_pub_example')
pub_line_min_dist = rospy.Publisher('~line_min_dist', Marker, queue_size=1)
rospy.loginfo('Publishing example line')
while not rospy.is_shutdown():
marker = Marker()
marker.header.frame_id = "/my_fixed_frame"
marker.type = marker.LINE_STRIP
marker.action = marker.ADD
# marker scale
marker.scale.x = 0.03
marker.scale.y = 0.03
marker.scale.z = 0.03
# marker color
marker.color.a = 1.0
marker.color.r = 1.0
marker.color.g = 1.0
marker.color.b = 0.0
# marker orientaiton
marker.pose.orientation.x = 0.0
marker.pose.orientation.y = 0.0
marker.pose.orientation.z = 0.0
marker.pose.orientation.w = 1.0
# marker position
marker.pose.position.x = 0.0
marker.pose.position.y = 0.0
marker.pose.position.z = 0.0
# marker line points
marker.points = []
# first point
first_line_point = Point()
first_line_point.x = 0.0
first_line_point.y = 0.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
# second point
first_line_point = Point()
first_line_point.x = 1.0
first_line_point.y = 1.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
# Publish the Marker
pub_line_min_dist.publish(marker)
rospy.sleep(0.5)
2 | No.2 Revision |
Here is an example code on how to publish a line (LINE_STRIP) as a marker
#!/usr/bin/env python
import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import Point
rospy.init_node('line_pub_example')
pub_line_min_dist = rospy.Publisher('~line_min_dist', Marker, queue_size=1)
rospy.loginfo('Publishing example line')
while not rospy.is_shutdown():
marker = Marker()
marker.header.frame_id = "/my_fixed_frame"
marker.type = marker.LINE_STRIP
marker.action = marker.ADD
# marker scale
marker.scale.x = 0.03
marker.scale.y = 0.03
marker.scale.z = 0.03
# marker color
marker.color.a = 1.0
marker.color.r = 1.0
marker.color.g = 1.0
marker.color.b = 0.0
# marker orientaiton
marker.pose.orientation.x = 0.0
marker.pose.orientation.y = 0.0
marker.pose.orientation.z = 0.0
marker.pose.orientation.w = 1.0
# marker position
marker.pose.position.x = 0.0
marker.pose.position.y = 0.0
marker.pose.position.z = 0.0
# marker line points
marker.points = []
# first point
first_line_point = Point()
first_line_point.x = 0.0
first_line_point.y = 0.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
# second point
first_line_point = Point()
first_line_point.x = 1.0
first_line_point.y = 1.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
# Publish the Marker
pub_line_min_dist.publish(marker)
rospy.sleep(0.5)
3 | No.3 Revision |
Here is an example code on how to publish a line (LINE_STRIP) as a marker
#!/usr/bin/env python
import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import Point
rospy.init_node('line_pub_example')
pub_line_min_dist = rospy.Publisher('~line_min_dist', Marker, queue_size=1)
rospy.loginfo('Publishing example line')
while not rospy.is_shutdown():
marker = Marker()
marker.header.frame_id = "/my_fixed_frame"
marker.type = marker.LINE_STRIP
marker.action = marker.ADD
# marker scale
marker.scale.x = 0.03
marker.scale.y = 0.03
marker.scale.z = 0.03
# marker color
marker.color.a = 1.0
marker.color.r = 1.0
marker.color.g = 1.0
marker.color.b = 0.0
# marker orientaiton
marker.pose.orientation.x = 0.0
marker.pose.orientation.y = 0.0
marker.pose.orientation.z = 0.0
marker.pose.orientation.w = 1.0
# marker position
marker.pose.position.x = 0.0
marker.pose.position.y = 0.0
marker.pose.position.z = 0.0
# marker line points
marker.points = []
# first point
first_line_point = Point()
first_line_point.x = 0.0
first_line_point.y = 0.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
# second point
first_line_point second_line_point = Point()
first_line_point.x = 1.0
first_line_point.y = 1.0
first_line_point.z = 0.0
marker.points.append(first_line_point)
second_line_point.x = 1.0
second_line_point.y = 1.0
second_line_point.z = 0.0
marker.points.append(second_line_point)
# Publish the Marker
pub_line_min_dist.publish(marker)
rospy.sleep(0.5)