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This is possible using the feedback callback described in this tutorial.
Python example:
class myInteractivemarker:
def __init__(self):
# Define your marker....
my_marker = InteractiveMarker()
......
# Set feedback callback
self.server.insert(my_marker, self.processFeedback)
def processFeedback(self, feedback):
# Trim the position in X of the marker
if feedback.pose.position.x < 0:
feedback.pose.position.x = 0
if feedback.pose.position.x > 10:
feedback.pose.position.x = 10
# Apply changes to the marker.
self.server.applyChanges()
Thank you Javier for your answer!
Actually, i tried as you specified but it doesn't work (no changing is done). I didn't find what is wrong exactly, i'm new in ROS so may be i'm making a mistake somewhere!
I will be grateful if you can help me in this.
Here is the code that i'm using right now.
This won't work because the feedback message you receive is just reporting info about the state of the interactive marker and has no write capabilities on the server. @sai-krishna's answer is correct, where you have to call setPose and applyChanges on the server.
Hi Masihec, You have to use server.setPose( feedback.marker_name, pose ) to change/constrain the position of Interactive marker. A sample code is given below.
def processFeedback(feedback):
# Trim the position in X of the marker
if feedback.pose.position.x < 0:
feedback.pose.position.x = 0
if feedback.pose.position.x > 10:
feedback.pose.position.x = 10
# Apply changes to the marker.
server.setPose( feedback.marker_name, feedback.pose)
server.applyChanges()
Javier here is my code! The code that i'm using for controlling the pose is between #####################################################################
and
#####################################################################
#!/usr/bin/env python import rospy import copy
from interactive_markers.interactive_marker_server import * from interactive_markers.menu_handler import * from visualization_msgs.msg import * from geometry_msgs.msg import Point from tf.broadcaster import TransformBroadcaster
from random import random from math import sin
server = None menu_handler = MenuHandler() br = None counter = 0
rayon = 0.05 tang_alfa = 0.05/0.1222 z_cone = 0.036 z_guide = 0.1 Fa= 12 Fr = 0 K= 10000
def frameCallback( msg ): global counter, br time = rospy.Time.now() br.sendTransform( (0, 0, sin(counter/140.0)*2.0), (0, 0, 0, 1.0), time, "base_link", "moving_frame" ) counter += 1
def processFeedback( feedback ): s = "Feedback from marker '" + feedback.marker_name s += "' / control '" + feedback.control_name + "'"
mp = ""
if feedback.mouse_point_valid:
mp = " at " + str(feedback.mouse_point.x)
mp += ", " + str(feedback.mouse_point.y)
mp += ", " + str(feedback.mouse_point.z)
mp += " in frame " + feedback.header.frame_id
if feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo( s + ": button click" + mp + "." )
elif feedback.event_type == InteractiveMarkerFeedback.MENU_SELECT:
rospy.loginfo( s + ": menu item " + str(feedback.menu_entry_id) + " clicked" + mp + "." )
elif feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
rospy.loginfo( s + ": pose changed")
elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_DOWN:
rospy.loginfo( s + ": mouse down" + mp + "." )
elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_UP:
rospy.loginfo( s + ": mouse up" + mp + "." )
#####################################################################
Fr = -K*feedback.pose.position.x
if (feedback.pose.position.x<=2*rayon and (feedback.pose.position.x)*(feedback.pose.position.x)+(feedback.pose.position.y)*(feedback.pose.position.y)> rayon*rayon):
feedback.pose.position.x -= feedback.pose.position.x
feedback.pose.position.y -= feedback.pose.position.y
feedback.pose.position.z -= feedback.pose.position.z
if (feedback.pose.position.x>=2*rayon):
Fr = Fa
feedback.pose.position.x -= feedback.pose.position.x
feedback.pose.position.y -= feedback.pose.position.y
feedback.pose.position.z -= feedback.pose.position.z
if ((z>z_cone) and (z<z_cone+z_guide) and (feedback.pose.position.x)*(feedback.pose.position.x)+(feedback.pose.position.y)*(feedback.pose.position.y)-(feedback.pose.position.z)*(feedback.pose.position.z)*tang_alfa>=0):
feedback.pose.position.x -= feedback.pose.position.x
feedback.pose.position.y -= feedback.pose.position.y
feedback.pose.position.z -= feedback.pose.position.z
server.applyChanges()
#####################################################################
def alignMarker( feedback ): pose = feedback.pose
pose.position.x = round(pose.position.x-0.5)+0.5
pose.position.y = round(pose.position.y-0.5)+0.5
rospy.loginfo( feedback.marker_name + ": aligning position = " + str(feedback.pose.position.x) + "," + str(feedback.pose.position.y) + "," + str(feedback.pose.position.z) + " to " +
str(pose.position.x) + "," + str(pose.position.y) + "," + str(pose.position.z) )
server.setPose( feedback.marker_name, pose )
server.applyChanges()
def rand( min_, max_ ): return min_ + random()*(max_-min_)
def makeBox( msg ): marker = Marker()
marker.type = Marker.SPHERE
marker.scale.x = msg.scale * 0.01
marker.scale.y = msg.scale * 0.01
marker.scale.z = msg.scale * 0.01
marker.color.r = 0.5
marker.color.g = 0.5
marker.color.b ...Asked: 2016-01-17 11:19:23 -0500
Seen: 1,046 times
Last updated: Oct 23 '18
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