直接貼例子代碼，實現畫多條線，鼠標單擊每條線時會有菜單顯示信息。
#!/usr/bin/env python
"""
Copyright (c) 2011, Willow Garage, Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Willow Garage, Inc. nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
"""
import rospy
import copy
from interactive_markers.interactive_marker_server import *
from interactive_markers.menu_handler import *
from visualization_msgs.msg import *
from geometry_msgs.msg import Point
from tf.broadcaster import TransformBroadcaster
import random
from math import sin
server = None
menu_handler = MenuHandler()
br = None
counter = 0
global nMark_
nMark_ = 0
def frameCallback(msg):
global counter, br
time = rospy.Time.now()
br.sendTransform((0, 0, sin(counter / 140.0) * 2.0), (0, 0, 0, 1.0), time, "map", "moving_frame")
counter += 1
def processFeedback(feedback):
s = "Feedback from marker '" + feedback.marker_name
s += "' / control '" + feedback.control_name + "'"
mp = ""
if feedback.mouse_point_valid:
mp = " at " + str(feedback.mouse_point.x)
mp += ", " + str(feedback.mouse_point.y)
mp += ", " + str(feedback.mouse_point.z)
mp += " in frame " + feedback.header.frame_id
if feedback.event_type == InteractiveMarkerFeedback.BUTTON_CLICK:
rospy.loginfo(s + ": button click" + mp + ".")
elif feedback.event_type == InteractiveMarkerFeedback.MENU_SELECT:
rospy.loginfo(s + ": menu item " + str(feedback.menu_entry_id) + " clicked" + mp + ".")
elif feedback.event_type == InteractiveMarkerFeedback.POSE_UPDATE:
rospy.loginfo(s + ": pose changed")
# TODO
# << "\nposition = "
# << feedback.pose.position.x
# << ", " << feedback.pose.position.y
# << ", " << feedback.pose.position.z
# << "\norientation = "
# << feedback.pose.orientation.w
# << ", " << feedback.pose.orientation.x
# << ", " << feedback.pose.orientation.y
# << ", " << feedback.pose.orientation.z
# << "\nframe: " << feedback.header.frame_id
# << " time: " << feedback.header.stamp.sec << "sec, "
# << feedback.header.stamp.nsec << " nsec" )
elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_DOWN:
rospy.loginfo(s + ": mouse down" + mp + ".")
elif feedback.event_type == InteractiveMarkerFeedback.MOUSE_UP:
rospy.loginfo(s + ": mouse up" + mp + ".")
server.applyChanges()
def makeBox(msg):
marker = Marker()
marker.type = Marker.CUBE
marker.scale.x = msg.scale * 0.45
marker.scale.y = msg.scale * 0.45
marker.scale.z = msg.scale * 0.45
marker.color.r = 0.5
marker.color.g = 0.5
marker.color.b = 0.5
marker.color.a = 1.0
return marker
def _markerLineStrip(msg):
global nMark_
markerLine = Marker()
markerLine.type = Marker.LINE_STRIP
markerLine.header.frame_id = "map"
markerLine.ns = "lanes_edge"
markerLine.action = Marker.ADD
markerLine.id = nMark_
nMark_ += 1
markerLine.scale.x = 0.15
markerLine.scale.y = 0.15
markerLine.scale.z = 0.15
markerLine.color.r = 1.0
markerLine.color.g = 1.0
markerLine.color.b = 0.0
markerLine.color.a = 1.0
markerLine.pose.orientation.x = 0.0
markerLine.pose.orientation.y = 0.0
markerLine.pose.orientation.z = 0.0
markerLine.pose.orientation.w = 1.0
markerLine.pose.position.x = 0.0
markerLine.pose.position.y = 0.0
markerLine.pose.position.z = 0.0
markerLine.lifetime = rospy.Duration()
for i in range(10):
p = Point()
p.x = i
p.y = i
markerLine.points.append(p)
return markerLine
def _markerLineStrip22(msg):
global nMark_
markerLine = Marker()
markerLine.type = Marker.LINE_STRIP
markerLine.header.frame_id = "map"
markerLine.ns = "lanes_edge"
markerLine.action = Marker.ADD
markerLine.id = nMark_
nMark_ += 1
markerLine.scale.x = 0.15
markerLine.scale.y = 0.15
markerLine.scale.z = 0.15
markerLine.color.r = 1.0
markerLine.color.g = 1.0
markerLine.color.b = 0.0
markerLine.color.a = 1.0
markerLine.pose.orientation.x = 0.0
markerLine.pose.orientation.y = 0.0
markerLine.pose.orientation.z = 0.0
markerLine.pose.orientation.w = 1.0
markerLine.pose.position.x = 0.0
markerLine.pose.position.y = 0.0
markerLine.pose.position.z = 0.0
markerLine.lifetime = rospy.Duration()
return markerLine
def makeSomeLine():
for nLine in range(10):
line1 = _markerLineStrip22(None)
for i in range(10):
p = Point()
a = random.randint(1, 10)
b = random.randint(1, 10)
p.x = a
p.y = b
p.z = 1
line1.points.append(p)
int_marker = InteractiveMarker()
int_marker.header.frame_id = "map"
# int_marker.pose.position = position
int_marker.scale = 1
name111 = str(nLine) + "context_menu"
int_marker.name = name111
# int_marker.description = "Context Menu\n(Right Click)"
# make one control using default visuals
control = InteractiveMarkerControl()
control.interaction_mode = InteractiveMarkerControl.MENU
# control.description = "Options"
# control.name = "menu_only_control"
# int_marker.controls.append(copy.deepcopy(control))
control.always_visible = True
control.markers.append(line1)
int_marker.controls.append(control)
server.insert(int_marker, processFeedback)
menu_handler1 = MenuHandler()
str1 = str(nLine) + "First Entry"
menu_handler1.insert(str1, callback = processFeedback)
menu_handler1.insert("Second Entry", callback = processFeedback)
menu_handler1.apply(server, int_marker.name)
def normalizeQuaternion(quaternion_msg):
norm = quaternion_msg.x ** 2 + quaternion_msg.y ** 2 + quaternion_msg.z ** 2 + quaternion_msg.w ** 2
s = norm ** (-0.5)
quaternion_msg.x *= s
quaternion_msg.y *= s
quaternion_msg.z *= s
quaternion_msg.w *= s
def makeMenuMarker(position):
menu_handler1 = MenuHandler()
menu_handler1.insert("First Entry11", callback=processFeedback)
menu_handler1.insert("Second Entry", callback=processFeedback)
int_marker = InteractiveMarker()
int_marker.header.frame_id = "map"
int_marker.pose.position = position
int_marker.scale = 1
int_marker.name = "context_menu22"
int_marker.description = "Context Menu\n(Right Click)"
# make one control using default visuals
control = InteractiveMarkerControl()
control.interaction_mode = InteractiveMarkerControl.MENU
control.description = "Options11"
control.name = "menu_only_control11"
int_marker.controls.append(copy.deepcopy(control))
# make one control showing a box
marker = makeBox(int_marker)
control.markers.append(marker)
control.always_visible = True
int_marker.controls.append(control)
server.insert(int_marker, processFeedback)
menu_handler1.apply(server, int_marker.name)
def makeMenuMarker2(position):
menu_handler2 = MenuHandler()
menu_handler2.insert("First Entry 222", callback=processFeedback)
menu_handler2.insert("Second Entry222", callback=processFeedback)
int_marker = InteractiveMarker()
int_marker.header.frame_id = "map"
# int_marker.pose.position = position
int_marker.scale = 1
int_marker.name = "context_menu22"
int_marker.description = "Context Menu\n(Right Click)"
# make one control using default visuals
control = InteractiveMarkerControl()
control.interaction_mode = InteractiveMarkerControl.MENU
control.description = "Options2222"
control.name = "menu_only_control2222"
int_marker.controls.append(copy.deepcopy(control))
# make one control showing a box
marker = _markerLineStrip(int_marker)
control.markers.append(marker)
control.always_visible = True
int_marker.controls.append(control)
server.insert(int_marker, processFeedback)
menu_handler2.apply(server, int_marker.name)
if __name__ == "__main__":
rospy.init_node("basic_controls")
# br = TransformBroadcaster()
# create a timer to update the published transforms
rospy.Timer(rospy.Duration(0.01), frameCallback)
server = InteractiveMarkerServer("basic_controls")
# menu_handler.insert("First Entry", callback=processFeedback)
# menu_handler.insert("Second Entry", callback=processFeedback)
# sub_menu_handle = menu_handler.insert("Submenu")
# menu_handler.insert("First Entry", parent=sub_menu_handle, callback=processFeedback)
# menu_handler.insert("Second Entry", parent=sub_menu_handle, callback=processFeedback)
# position = Point(3, -6, 0)
# makeMenuMarker(position)
# makeMenuMarker2(position)
makeSomeLine()
server.applyChanges()
rospy.spin()
