Rviz doesn't display text marker.
Hello,
I'm trying to display some text in rviz via visualization_msgs/Marker. Other markers displays properly, but when I want to display text, then nothing appears.
This is my message, and code:
header:
seq: 755
stamp:
secs: 1493036259
nsecs: 505534537
frame_id: /my_frame
ns: basic_shapes
id: 5
type: 9
action: 0
pose:
position:
x: 5.0
y: 1.0
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
scale:
x: 0.3
y: 0.3
z: 1.0
color:
r: 1.0
g: 1.0
b: 1.0
a: 1.0
lifetime:
secs: 0
nsecs: 0
frame_locked: False
points: []
colors: []
text: blablabla
mesh_resource: ''
mesh_use_embedded_materials: False
---
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
int main( int argc, char** argv )
{
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
uint32_t shape = visualization_msgs::Marker::TEXT_VIEW_FACING;
uint32_t action = 0;
uint32_t iteration = 0;
while (ros::ok())
{
visualization_msgs::Marker marker;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
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
marker.ns = "basic_shapes";
marker.id = iteration;
// Set the marker type. Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
marker.type = shape;
// Set the marker action. Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
marker.action = action;
// Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header
marker.pose.position.x = 0.0 + iteration;
marker.pose.position.y = 1.0;
marker.pose.position.z = 1.0;
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
marker.scale.x = 0.3;
marker.scale.y = 0.3;
marker.scale.z = 1.0;
// Set the color -- be sure to set alpha to something non-zero!
marker.color.r = 1.0f;
marker.color.g = 1.0f;
marker.color.b = 1.0f;
marker.color.a = 1.0;
marker.lifetime = ros::Duration();
marker.text = "blablabla";
// Publish the marker
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);
iteration++;
if (iteration > 5)
{
iteration = 0;
}
r.sleep();
}
}
I don't now if the problem is with the code, or the rviz. I would like to add that I use ros kinetic, and my rviz version is 1.12.4.