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