[rviz] 点の描画

5674 ワード
Python ROS Python テキストリンク

rviz上に点を描画するだけのプログラム

pub_point.py

import rospy
from visualization_msgs.msg import Marker

rospy.init_node("marker_pub")

pub = rospy.Publisher("sphere_pub", Marker, queue_size = 10)
rate = rospy.Rate(25)

w=0

while not rospy.is_shutdown():
    marker_data = Marker()
    marker_data.header.frame_id = "map"
    marker_data.header.stamp = rospy.Time.now()

    marker_data.ns = "basic_shapes"
    marker_data.id = 0

    marker_data.action = Marker.ADD

    marker_data.pose.position.x = 0.0
    marker_data.pose.position.y = 0.0
    marker_data.pose.position.z = 0.0

    marker_data.color.r = 1.0
    marker_data.color.g = 0.0
    marker_data.color.b = 0.0
    marker_data.color.a = 1.0

    marker_data.scale.x = 0.3
    marker_data.scale.y = 0.3
    marker_data.scale.z = 0.3

    marker_data.lifetime = rospy.Duration()

    marker_data.type = 2

    pub.publish(marker_data)

    rate.sleep()

rvizで表示すると以下のようになります

(参考)https://www.robotech-note.com/entry/2018/04/15/221524