transformable_server_sample

transformable provides interactive marker to control some object models.

Parameters

• ~server_name

  Name of interactive server.

• ~use_parent_and_child (default: false)

  Flag for using ParentAndChildInteractiveServer.

  If true, you can use associate markers like below:

rosservice call /simple_marker/set_parent_marker "parent_topic_name: ''
parent_marker_name: 'drill'
child_marker_name: 'hand'"

If parent_topic_name==empty, it uses self server, and only 1 hierarchy is supported.

• ~display_interactive_manipulator (Bool, default: true)

  Flat to show the 6dof interactive manipulator for all objects.

• ~display_interactive_manipulator_only_selected (Bool, default: false)

  Flag to show the 6dof interactive manipulator only for the selected object. This flag does nothing if ~display_interactive_manipulator is false.

• ~display_description_only_selected (Bool, default: false)

  Flag to show the description only for the selected object.

Usage

roslaunch jsk_interactive_marker urdf_model_marker.launch

then, in different terminal You can insert box marker by this command

rosservice call /simple_marker/request_marker_operate "operate: {type: 0, action: 0, frame_id: '', name: '', description: '', mesh_resource: '',
  mesh_use_embedded_materials: false}"

You can insert model by this command

rosservice call /simple_marker/request_marker_operate "operate: {type: 3, action: 0, frame_id: 'map', name: 'hand', description: '', mesh_resource: 'package://hrpsys_ros_bridge_tutorials/models/HRP3HAND_R_meshes/RARM_LINK6_mesh.dae',
  mesh_use_embedded_materials: true}" 

Topics

You can control markers through topics below (Please Read msg Structure by rosmsg show or some other) (The default topic name is /simple_marker, server name is the same)

• /simple_marker/set_color
• /simple_marker/feedback [visualization_msgs/InteractiveMarkerFeedback]
• /simple_marker/set_radius
• /simple_marker/set_control_relative_pose
• /simple_marker/add_pose_relative [geometry_msgs::Pose]
• /simple_marker/set_z
• /simple_marker/set_x
• /simple_marker/set_y
• /simple_marker/add_pose [geometry_msgs::Pose]
• /simple_marker/set_control_pose [geometry_msgs::PoseStamped]
• /simple_marker/set_pose [geometry_msgs::PoseStamped]

You can get marker info by topics below

• /simple_marker/marker_dimensions [jsk_interactive_marker/MarkerDimensions]
• /simple_marker/pose [geometry_msgs/PoseStamped]
• /simple_marker/focus_object_marker_name [std_msgs/String]
• /simple_marker/pose_with_name [jsk_interactive_marker/PoseStampedWithName]
• /simple_marker/focus_marker_name_text [jsk_rviz_plugins/OverlayText]
• /tf [tf2_msgs/TFMessage] (with marker name, tf is published)
• /simple_marker/focus_marker_pose_text [jsk_rviz_plugins/OverlayText]

Services

You can control markers through topics below

• /simple_marker/request_marker_operate -> for inserting marker
• /simple_marker/set_focus
• /simple_marker/set_color
• /simple_marker/set_control_pose
• /simple_marker/set_parameters
• /simple_marker/set_pose
• /simple_marker/set_dimensions
• /simple_marker/set_parent_marker
• /simple_marker/hide

You can get marker info through topics below

• /simple_marker/get_control_pose
• /simple_marker/get_color
• /simple_marker/get_focus
• /simple_marker/get_dimensions
• /simple_marker/get_type
• /simple_marker/get_pose
• /simple_marker/get_existence