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