Only released in EOL distros:
Package Summary
Generates markers for a robot
- Maintainer status: developed
- Maintainer: Justin Huang <jstn AT cs.washington DOT edu>
- Author:
- License: BSD
- Source: git https://github.com/jstnhuang/robot_markers.git (branch: indigo-devel)
Contents
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Overview
robot_markers is a library for creating RViz markers for a robot, given a URDF.
Quick start
The library's generated documentation explains how to use robot_markers.
robot_markers::Builder is the main interface for building a MarkerArray from a URDF.
First, create a Builder for a given URDF:
There are a variety of configuration options you can set before generating the markers (pose, color, etc.). You should always specify a namespace and a frame ID.
1 builder.SetNamespace("robot");
2 builder.SetFrameId("base_link");
3 builder.SetColor(0.33, 0.17, 0.45, 1); // A color of 0, 0, 0, 0 means to use the mesh colors.
4 geometry_msgs::Pose pose;
5 pose.position.y = 1;
6 pose.orientation.w = 0.92387953;
7 pose.orientation.z = -0.38268343;
8 builder.SetPose(pose);
A notable feature of Builder is the ability to set the joint angles of the robot. To do so, pass in a map that gives the joint angles for a set of joint names. Builder does not check joint angle limits.
Once you have configured the visualization, call Builder::Build, passing in a marker array to append the robot markers to.
Here is a full example, available as a demo file.
1 #include <map>
2 #include <string>
3
4 #include "geometry_msgs/Pose.h"
5 #include "robot_markers/builder.h"
6 #include "ros/ros.h"
7 #include "urdf/model.h"
8 #include "visualization_msgs/MarkerArray.h"
9
10 int main(int argc, char** argv) {
11 ros::init(argc, argv, "robot_markers_demo");
12 ros::NodeHandle nh;
13 ros::Publisher marker_arr_pub =
14 nh.advertise<visualization_msgs::MarkerArray>("robot", 10);
15 ros::Duration(0.5).sleep();
16
17 urdf::Model model;
18 model.initParam("robot_description");
19
20 robot_markers::Builder builder(model);
21 builder.Init();
22
23 // Robot 1: Default configuration, purple.
24 visualization_msgs::MarkerArray robot1;
25 builder.SetNamespace("robot");
26 builder.SetFrameId("base_link");
27 builder.SetColor(0.33, 0.17, 0.45, 1);
28 builder.Build(&robot1);
29 marker_arr_pub.publish(robot1);
30
31 // Robot 2: Different pose, joints changed.
32 visualization_msgs::MarkerArray robot2;
33 builder.SetNamespace("robot2");
34 builder.SetColor(0, 0, 0, 0);
35
36 std::map<std::string, double> joint_positions;
37 joint_positions["torso_lift_joint"] = 0.1;
38 joint_positions["head_tilt_joint"] = 0.5;
39 builder.SetJointPositions(joint_positions);
40
41 geometry_msgs::Pose pose;
42 pose.position.y = 1;
43 pose.orientation.w = 0.92387953;
44 pose.orientation.z = -0.38268343;
45 builder.SetPose(pose);
46 builder.Build(&robot2);
47 marker_arr_pub.publish(robot2);
48
49 ros::Duration(0.5).sleep();
50
51 return 0;
52 }
