marker_6dof

marker_6dof provides interactive marker to control a marker of primitive shape or mesh shape.

Parameters

  • ~object_type (String, default: sphere)

    Type of object shape. cube, sphere, line, and mesh are available.

  • ~frame_id (String, default: /map)

    Frame id of marker.

  • ~publish_tf (Bool, default: False)

    Tf of marker pose is published if true.

  • ~tf_frame (String, default: object)

    frame id of published tf. This value is used only when ~publish_tf is true.

  • ~tf_duration (Double, default: 0.1)

    Time interval of published tf. This value is used only when ~publish_tf is true.

  • ~publish_pose_periodically (Bool, default: False)

    Pose of marker is published periodically if true. Pose topic is published only when marker is moved via Rviz if false.

  • ~object_x (Double, default: 1.0)

  • ~object_y (Double, default: 1.0)

  • ~object_z (Double, default: 1.0)

    X, Y, Z scale of object.

  • ~object_r (Double, default: 1.0)

  • ~object_g (Double, default: 1.0)

  • ~object_b (Double, default: 1.0)

  • ~object_a (Double, default: 1.0)

    Red, Green, Blue and Alpha value of object.

  • ~initial_x (Double, default: 0.0)

  • ~initial_y (Double, default: 0.0)

  • ~initial_z (Double, default: 0.0)

    Initial X, Y, Z position of marker.

  • ~initial_orientation (Vector of Double, default: [0.0, 0.0, 0.0, 1.0])

    Initial orientation of marker described in quaternion.

Subscribing Topics

  • ~feedback (visualization_msgs/InteractiveMarkerFeedback)

  • ~move_marker (geometry_msgs/PoseStamped)

    You can control markers through topics above.

Publishing Topics

  • ~update (visualization_msgs/InteractiveMarkerUpdate)

  • ~update_full (visualization_msgs/InteractiveMarkerInit)

    Current marker state

  • ~pose (geometry_msgs/PoseStamped)

    Pose of marker. You can select publishing policy via ~publish_pose_periodically.

  • /tf (tf2_msgs/TFMessage)

    Tf of marker pose. Available only when ~publish_tf is true.

Sample

roslaunch jsk_interactive_marker marker_6dof_sample.launch