Class: Visualization_msgs::InteractiveMarker

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/visualization_msgs/InteractiveMarker.rb

Constant Summary collapse

@@struct_d7 = 
::ROS::Struct.new("d7")
@@struct_f = 
::ROS::Struct.new("f")
@@struct_l3 = 
::ROS::Struct.new("l3")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_f4 = 
::ROS::Struct.new("f4")
@@struct_C3 = 
::ROS::Struct.new("C3")
@@struct_d4 = 
::ROS::Struct.new("d4")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_d3 = 
::ROS::Struct.new("d3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','geometry_msgs/Pose','string','string','float32','visualization_msgs/MenuEntry[]','visualization_msgs/InteractiveMarkerControl[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ InteractiveMarker

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :header (Header) —

    initialize value

  • :pose (geometry_msgs/Pose) —

    initialize value

  • :name (string) —

    initialize value

  • :description (string) —

    initialize value

  • :scale (float32) —

    initialize value

  • :menu_entries (visualization_msgs/MenuEntry[]) —

    initialize value

  • :controls (visualization_msgs/InteractiveMarkerControl[]) —

    initialize value



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 317

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:header]
    @header = args[:header]
  else
    @header = Std_msgs::Header.new
  end
  if args[:pose]
    @pose = args[:pose]
  else
    @pose = Geometry_msgs::Pose.new
  end
  if args[:name]
    @name = args[:name]
  else
    @name = ''
  end
  if args[:description]
    @description = args[:description]
  else
    @description = ''
  end
  if args[:scale]
    @scale = args[:scale]
  else
    @scale = 0.0
  end
  if args[:menu_entries]
    @menu_entries = args[:menu_entries]
  else
    @menu_entries = []
  end
  if args[:controls]
    @controls = args[:controls]
  else
    @controls = []
  end
end

Instance Attribute Details

#controls ⇒ Object

Returns the value of attribute controls.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def controls
  @controls
end

#description ⇒ Object

Returns the value of attribute description.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def description
  @description
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def header
  @header
end

#menu_entries ⇒ Object

Returns the value of attribute menu_entries.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def menu_entries
  @menu_entries
end

#name ⇒ Object

Returns the value of attribute name.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def name
  @name
end

#pose ⇒ Object

Returns the value of attribute pose.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def pose
  @pose
end

#scale ⇒ Object

Returns the value of attribute scale.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 290

def scale
  @scale
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 18

def self.md5sum
  "97d10a9c6371692b469f5814d4156b68"
end

.type ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 22

def self.type
  "visualization_msgs/InteractiveMarker"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 358

def _get_types
  @slot_types
end

#deserialize(str) ⇒ Object

unpack serialized message in str into this message instance

@param [String] str: byte array of serialized message



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 468

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @pose == nil
      @pose = Geometry_msgs::Pose.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d7')
    (@pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w,) = @@struct_d7.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @name = str[start..(end_point-1)]
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @description = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('f')
    (@scale,) = @@struct_f.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @menu_entries = []
    length.times do
      val1 = Visualization_msgs::MenuEntry.new
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('L2')
      (_x.id, _x.parent_id,) = @@struct_L2.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.title = str[start..(end_point-1)]
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.command = str[start..(end_point-1)]
      start = end_point
      end_point += ROS::Struct::calc_size('C')
      (val1.command_type,) = @@struct_C.unpack(str[start..(end_point-1)])
      @menu_entries.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @controls = []
    length.times do
      val1 = Visualization_msgs::InteractiveMarkerControl.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.name = str[start..(end_point-1)]
      _v52 = val1.orientation
      _x = _v52
      start = end_point
      end_point += ROS::Struct::calc_size('d4')
      (_x.x, _x.y, _x.z, _x.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('C3')
      (_x.orientation_mode, _x.interaction_mode, _x.always_visible,) = @@struct_C3.unpack(str[start..(end_point-1)])
      val1.always_visible = bool(val1.always_visible)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      val1.markers = []
      length.times do
        val2 = Visualization_msgs::Marker.new
        _v53 = val2.header
        start = end_point
        end_point += ROS::Struct::calc_size('L')
        (_v53.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
        _v54 = _v53.stamp
        _x = _v54
        start = end_point
        end_point += ROS::Struct::calc_size('L2')
        (_x.secs, _x.nsecs,) = @@struct_L2.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += length
        _v53.frame_id = str[start..(end_point-1)]
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += length
        val2.ns = str[start..(end_point-1)]
        _x = val2
        start = end_point
        end_point += ROS::Struct::calc_size('l3')
        (_x.id, _x.type, _x.action,) = @@struct_l3.unpack(str[start..(end_point-1)])
        _v55 = val2.pose
        _v56 = _v55.position
        _x = _v56
        start = end_point
        end_point += ROS::Struct::calc_size('d3')
        (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
        _v57 = _v55.orientation
        _x = _v57
        start = end_point
        end_point += ROS::Struct::calc_size('d4')
        (_x.x, _x.y, _x.z, _x.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
        _v58 = val2.scale
        _x = _v58
        start = end_point
        end_point += ROS::Struct::calc_size('d3')
        (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
        _v59 = val2.color
        _x = _v59
        start = end_point
        end_point += ROS::Struct::calc_size('f4')
        (_x.r, _x.g, _x.b, _x.a,) = @@struct_f4.unpack(str[start..(end_point-1)])
        _v60 = val2.lifetime
        _x = _v60
        start = end_point
        end_point += ROS::Struct::calc_size('l2')
        (_x.secs, _x.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += ROS::Struct::calc_size('C')
        (val2.frame_locked,) = @@struct_C.unpack(str[start..(end_point-1)])
        val2.frame_locked = bool(val2.frame_locked)
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        val2.points = []
        length.times do
          val3 = Geometry_msgs::Point.new
          _x = val3
          start = end_point
          end_point += ROS::Struct::calc_size('d3')
          (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
          val2.points.push(val3)
        end
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        val2.colors = []
        length.times do
          val3 = Std_msgs::ColorRGBA.new
          _x = val3
          start = end_point
          end_point += ROS::Struct::calc_size('f4')
          (_x.r, _x.g, _x.b, _x.a,) = @@struct_f4.unpack(str[start..(end_point-1)])
          val2.colors.push(val3)
        end
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += length
        val2.text = str[start..(end_point-1)]
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += length
        val2.mesh_resource = str[start..(end_point-1)]
        start = end_point
        end_point += ROS::Struct::calc_size('C')
        (val2.mesh_use_embedded_materials,) = @@struct_C.unpack(str[start..(end_point-1)])
        val2.mesh_use_embedded_materials = bool(val2.mesh_use_embedded_materials)
        val1.markers.push(val2)
      end
      start = end_point
      end_point += ROS::Struct::calc_size('C')
      (val1.independent_marker_orientation,) = @@struct_C.unpack(str[start..(end_point-1)])
      val1.independent_marker_orientation = bool(val1.independent_marker_orientation)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.description = str[start..(end_point-1)]
      @controls.push(val1)
    end
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 26

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 30

def message_definition
  "# Time/frame info.
# If header.time is set to 0, the marker will be retransformed into
# its frame on each timestep. You will receive the pose feedback
# in the same frame.
# Otherwise, you might receive feedback in a different frame.
# For rviz, this will be the current 'fixed frame' set by the user.
Header header

# Initial pose. Also, defines the pivot point for rotations.
geometry_msgs/Pose pose

# Identifying string. Must be globally unique in
# the topic that this message is sent through.
string name

# Short description (< 40 characters).
string description

# Scale to be used for default controls (default=1).
float32 scale

# All menu and submenu entries associated with this marker.
MenuEntry[] menu_entries

# List of controls displayed for this marker.
InteractiveMarkerControl[] controls

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: visualization_msgs/MenuEntry
# MenuEntry message.

# Each InteractiveMarker message has an array of MenuEntry messages.
# A collection of MenuEntries together describe a
# menu/submenu/subsubmenu/etc tree, though they are stored in a flat
# array.  The tree structure is represented by giving each menu entry
# an ID number and a \"parent_id\" field.  Top-level entries are the
# ones with parent_id = 0.  Menu entries are ordered within their
# level the same way they are ordered in the containing array.  Parent
# entries must appear before their children.

# Example:
# - id = 3
#   parent_id = 0
#   title = \"fun\"
# - id = 2
#   parent_id = 0
#   title = \"robot\"
# - id = 4
#   parent_id = 2
#   title = \"pr2\"
# - id = 5
#   parent_id = 2
#   title = \"turtle\"
#
# Gives a menu tree like this:
#  - fun
#  - robot
#    - pr2
#    - turtle

# ID is a number for each menu entry.  Must be unique within the
# control, and should never be 0.
uint32 id

# ID of the parent of this menu entry, if it is a submenu.  If this
# menu entry is a top-level entry, set parent_id to 0.
uint32 parent_id

# menu / entry title
string title

# Arguments to command indicated by command_type (below)
string command

# Command_type stores the type of response desired when this menu
# entry is clicked.
# FEEDBACK: send an InteractiveMarkerFeedback message with menu_entry_id set to this entry's id.
# ROSRUN: execute \"rosrun\" with arguments given in the command field (above).
# ROSLAUNCH: execute \"roslaunch\" with arguments given in the command field (above).
uint8 FEEDBACK=0
uint8 ROSRUN=1
uint8 ROSLAUNCH=2
uint8 command_type

================================================================================
MSG: visualization_msgs/InteractiveMarkerControl
# Represents a control that is to be displayed together with an interactive marker

# Identifying string for this control.
# You need to assign a unique value to this to receive feedback from the GUI
# on what actions the user performs on this control (e.g. a button click).
string name


# Defines the local coordinate frame (relative to the pose of the parent
# interactive marker) in which is being rotated and translated.
# Default: Identity
geometry_msgs/Quaternion orientation


# Orientation mode: controls how orientation changes.
# INHERIT: Follow orientation of interactive marker
# FIXED: Keep orientation fixed at initial state
# VIEW_FACING: Align y-z plane with screen (x: forward, y:left, z:up).
uint8 INHERIT = 0 
uint8 FIXED = 1
uint8 VIEW_FACING = 2

uint8 orientation_mode

# Interaction mode for this control
# 
# NONE: This control is only meant for visualization; no context menu.
# MENU: Like NONE, but right-click menu is active.
# BUTTON: Element can be left-clicked.
# MOVE_AXIS: Translate along local x-axis.
# MOVE_PLANE: Translate in local y-z plane.
# ROTATE_AXIS: Rotate around local x-axis.
# MOVE_ROTATE: Combines MOVE_PLANE and ROTATE_AXIS.
uint8 NONE = 0 
uint8 MENU = 1
uint8 BUTTON = 2
uint8 MOVE_AXIS = 3 
uint8 MOVE_PLANE = 4
uint8 ROTATE_AXIS = 5
uint8 MOVE_ROTATE = 6

uint8 interaction_mode


# If true, the contained markers will also be visible
# when the gui is not in interactive mode.
bool always_visible


# Markers to be displayed as custom visual representation.
# Leave this empty to use the default control handles.
#
# Note: 
# - The markers can be defined in an arbitrary coordinate frame,
#   but will be transformed into the local frame of the interactive marker.
# - If the header of a marker is empty, its pose will be interpreted as 
#   relative to the pose of the parent interactive marker.
Marker[] markers


# In VIEW_FACING mode, set this to true if you don't want the markers
# to be aligned with the camera view point. The markers will show up
# as in INHERIT mode.
bool independent_marker_orientation


# Short description (< 40 characters) of what this control does,
# e.g. \"Move the robot\". 
# Default: A generic description based on the interaction mode
string description

================================================================================
MSG: visualization_msgs/Marker
# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11

uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2

Header header                        # header for time/frame information
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object
int32 id 		                         # object ID useful in conjunction with the namespace for manipulating and deleting the object later
int32 type 		                       # Type of object
int32 action 	                       # 0 add/modify an object, 1 (deprecated), 2 deletes an object
geometry_msgs/Pose pose                 # Pose of the object
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color             # Color [0.0-1.0]
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
#number of colors must either be 0 or equal to the number of points
#NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/visualization_msgs/InteractiveMarker.rb', line 364

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
    _x = @header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d7.pack(@pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w))
    _x = @name
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    _x = @description
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_f.pack(@scale))
    length = @menu_entries.length
    buff.write(@@struct_L.pack(length))
    for val1 in @menu_entries
      _x = val1
      buff.write(@@struct_L2.pack(_x.id, _x.parent_id))
      _x = val1.title
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _x = val1.command
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      buff.write(@@struct_C.pack(val1.command_type))
    end
    length = @controls.length
    buff.write(@@struct_L.pack(length))
    for val1 in @controls
      _x = val1.name
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _v43 = val1.orientation
      _x = _v43
      buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
      _x = val1
      buff.write(@@struct_C3.pack(_x.orientation_mode, _x.interaction_mode, _x.always_visible))
      length = val1.markers.length
      buff.write(@@struct_L.pack(length))
      for val2 in val1.markers
        _v44 = val2.header
        buff.write(@@struct_L.pack(_v44.seq))
        _v45 = _v44.stamp
        _x = _v45
        buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
        _x = _v44.frame_id
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        _x = val2.ns
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        _x = val2
        buff.write(@@struct_l3.pack(_x.id, _x.type, _x.action))
        _v46 = val2.pose
        _v47 = _v46.position
        _x = _v47
        buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
        _v48 = _v46.orientation
        _x = _v48
        buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
        _v49 = val2.scale
        _x = _v49
        buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
        _v50 = val2.color
        _x = _v50
        buff.write(@@struct_f4.pack(_x.r, _x.g, _x.b, _x.a))
        _v51 = val2.lifetime
        _x = _v51
        buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
        buff.write(@@struct_C.pack(val2.frame_locked))
        length = val2.points.length
        buff.write(@@struct_L.pack(length))
        for val3 in val2.points
          _x = val3
          buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
        end
        length = val2.colors.length
        buff.write(@@struct_L.pack(length))
        for val3 in val2.colors
          _x = val3
          buff.write(@@struct_f4.pack(_x.r, _x.g, _x.b, _x.a))
        end
        _x = val2.text
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        _x = val2.mesh_resource
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        buff.write(@@struct_C.pack(val2.mesh_use_embedded_materials))
      end
      buff.write(@@struct_C.pack(val1.independent_marker_orientation))
      _x = val1.description
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end