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InteractiveMarker with multiple interaction modes?

asked 2013-02-23 08:36:49 -0600

updated 2014-01-28 17:15:22 -0600

ngrennan gravatar image

This seems like something that ought to be possible, but I'm not seeing how to do it. I am making interactive markers for display in rviz, and I would like to have both the BUTTON and MENU interaction modes for each marker. As far as I can tell, though, it is only possible to assign one interaction mode to one marker. Surely there must be a way to assign multiple modes to a single marker? Does anyone have any suggestions? I am on Ubuntu 12.04 with ROS Groovy.

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answered 2013-02-23 09:22:49 -0600

dgossow gravatar image

Button controls can have a right-click menu assigned to them, like all other types of controls except for NONE.

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Thanks for the reply. Can you point me to some documentation for how to do that?

Jeffrey Kane Johnson gravatar image Jeffrey Kane Johnson  ( 2013-02-23 09:26:35 -0600 )edit

Ah, thank you, that makes more sense. I had been looking at this page:

Jeffrey Kane Johnson gravatar image Jeffrey Kane Johnson  ( 2013-02-23 09:35:54 -0600 )edit

answered 2016-07-25 06:42:38 -0600

user23fj239 gravatar image

updated 2016-07-25 06:44:57 -0600

Acutally the link the QA mentions has the right-click menu in line 266.

Overall your marker menu can be applied like:

//pointer to a dynamically allocated object server
  boost::shared_ptr < interactive_markers::InteractiveMarkerServer > server;
               ("interactive_markers", "", false));
  ros::Duration(0.1).sleep();   // wait till fully init.

  // apply right-click menu
  interactive_markers::MenuHandler menuHandler;
  menuHandler.insert("Start Steering", &processMarkerFeedback);// callback function
  menuHandler.insert("Stop Steering", &processMarkerFeedback);
  menuHandler.apply(*server,;// marker of any type

the callback function looks like line 123,

// The current marker postion is published as transform
// more feedback extraction on .../interactive_marker_tutorials/src/basic_controls.cpp
void processMarkerFeedback(const
                           vm::InteractiveMarkerFeedbackConstPtr & feedbackPtr)
  int eventType = feedbackPtr->event_type;
  std::string markerName = feedbackPtr->marker_name;
  if (eventType == 2 && feedbackPtr->mouse_point_valid) {        // MENU_SELECT
    ROS_INFO_STREAM("interactive_marker_node::processMarkerFeedback:" << markerName << " id:" << feedbackPtr->menu_entry_id);
  } else {}//... other eventTypes
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Asked: 2013-02-23 08:36:49 -0600

Seen: 681 times

Last updated: Jul 25 '16