Class: Visualization_msgs::InteractiveMarkerUpdate

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

Constant Summary collapse

KEEP_ALIVE =

Pseudo-constants

0
UPDATE = 
1
@@struct_C = 
::ROS::Struct.new("C")
@@struct_f = 
::ROS::Struct.new("f")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_l3 = 
::ROS::Struct.new("l3")
@@struct_QC = 
::ROS::Struct.new("QC")
@@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 = 
['string','uint64','uint8','visualization_msgs/InteractiveMarker[]','visualization_msgs/InteractiveMarkerPose[]','string[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ InteractiveMarkerUpdate

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :server_id (string) —

    initialize value

  • :seq_num (uint64) —

    initialize value

  • :type (uint8) —

    initialize value

  • :markers (visualization_msgs/InteractiveMarker[]) —

    initialize value

  • :poses (visualization_msgs/InteractiveMarkerPose[]) —

    initialize value

  • :erases (string[]) —

    initialize value



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 367

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:server_id]
    @server_id = args[:server_id]
  else
    @server_id = ''
  end
  if args[:seq_num]
    @seq_num = args[:seq_num]
  else
    @seq_num = 0
  end
  if args[:type]
    @type = args[:type]
  else
    @type = 0
  end
  if args[:markers]
    @markers = args[:markers]
  else
    @markers = []
  end
  if args[:poses]
    @poses = args[:poses]
  else
    @poses = []
  end
  if args[:erases]
    @erases = args[:erases]
  else
    @erases = []
  end
end

Instance Attribute Details

#erases ⇒ Object

Returns the value of attribute erases.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def erases
  @erases
end

#markers ⇒ Object

Returns the value of attribute markers.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def markers
  @markers
end

#poses ⇒ Object

Returns the value of attribute poses.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def poses
  @poses
end

#seq_num ⇒ Object

Returns the value of attribute seq_num.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def seq_num
  @seq_num
end

#server_id ⇒ Object

Returns the value of attribute server_id.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def server_id
  @server_id
end

#type ⇒ Object

Returns the value of attribute type.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 342

def type
  @type
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 20

def self.md5sum
  "f9687b34e042d26cfd564728fc644bff"
end

.type ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 24

def self.type
  "visualization_msgs/InteractiveMarkerUpdate"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 403

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/InteractiveMarkerUpdate.rb', line 559

def deserialize(str)

  begin
    end_point = 0
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @server_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('QC')
    (@seq_num, @type,) = @@struct_QC.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @markers = []
    length.times do
      val1 = Visualization_msgs::InteractiveMarker.new
      _v96 = val1.header
      start = end_point
      end_point += ROS::Struct::calc_size('L')
      (_v96.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
      _v97 = _v96.stamp
      _x = _v97
      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
      _v96.frame_id = str[start..(end_point-1)]
      _v98 = val1.pose
      _v99 = _v98.position
      _x = _v99
      start = end_point
      end_point += ROS::Struct::calc_size('d3')
      (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
      _v100 = _v98.orientation
      _x = _v100
      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)])
      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)]
      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)]
      start = end_point
      end_point += ROS::Struct::calc_size('f')
      (val1.scale,) = @@struct_f.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      val1.menu_entries = []
      length.times do
        val2 = Visualization_msgs::MenuEntry.new
        _x = val2
        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
        val2.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
        val2.command = str[start..(end_point-1)]
        start = end_point
        end_point += ROS::Struct::calc_size('C')
        (val2.command_type,) = @@struct_C.unpack(str[start..(end_point-1)])
        val1.menu_entries.push(val2)
      end
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      val1.controls = []
      length.times do
        val2 = 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
        val2.name = str[start..(end_point-1)]
        _v101 = val2.orientation
        _x = _v101
        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 = val2
        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)])
        val2.always_visible = bool(val2.always_visible)
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        val2.markers = []
        length.times do
          val3 = Visualization_msgs::Marker.new
          _v102 = val3.header
          start = end_point
          end_point += ROS::Struct::calc_size('L')
          (_v102.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
          _v103 = _v102.stamp
          _x = _v103
          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
          _v102.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
          val3.ns = str[start..(end_point-1)]
          _x = val3
          start = end_point
          end_point += ROS::Struct::calc_size('l3')
          (_x.id, _x.type, _x.action,) = @@struct_l3.unpack(str[start..(end_point-1)])
          _v104 = val3.pose
          _v105 = _v104.position
          _x = _v105
          start = end_point
          end_point += ROS::Struct::calc_size('d3')
          (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
          _v106 = _v104.orientation
          _x = _v106
          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)])
          _v107 = val3.scale
          _x = _v107
          start = end_point
          end_point += ROS::Struct::calc_size('d3')
          (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
          _v108 = val3.color
          _x = _v108
          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)])
          _v109 = val3.lifetime
          _x = _v109
          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')
          (val3.frame_locked,) = @@struct_C.unpack(str[start..(end_point-1)])
          val3.frame_locked = bool(val3.frame_locked)
          start = end_point
          end_point += 4
          (length,) = @@struct_L.unpack(str[start..(end_point-1)])
          val3.points = []
          length.times do
            val4 = Geometry_msgs::Point.new
            _x = val4
            start = end_point
            end_point += ROS::Struct::calc_size('d3')
            (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
            val3.points.push(val4)
          end
          start = end_point
          end_point += 4
          (length,) = @@struct_L.unpack(str[start..(end_point-1)])
          val3.colors = []
          length.times do
            val4 = Std_msgs::ColorRGBA.new
            _x = val4
            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)])
            val3.colors.push(val4)
          end
          start = end_point
          end_point += 4
          (length,) = @@struct_L.unpack(str[start..(end_point-1)])
          start = end_point
          end_point += length
          val3.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
          val3.mesh_resource = str[start..(end_point-1)]
          start = end_point
          end_point += ROS::Struct::calc_size('C')
          (val3.mesh_use_embedded_materials,) = @@struct_C.unpack(str[start..(end_point-1)])
          val3.mesh_use_embedded_materials = bool(val3.mesh_use_embedded_materials)
          val2.markers.push(val3)
        end
        start = end_point
        end_point += ROS::Struct::calc_size('C')
        (val2.independent_marker_orientation,) = @@struct_C.unpack(str[start..(end_point-1)])
        val2.independent_marker_orientation = bool(val2.independent_marker_orientation)
        start = end_point
        end_point += 4
        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
        start = end_point
        end_point += length
        val2.description = str[start..(end_point-1)]
        val1.controls.push(val2)
      end
      @markers.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @poses = []
    length.times do
      val1 = Visualization_msgs::InteractiveMarkerPose.new
      _v110 = val1.header
      start = end_point
      end_point += ROS::Struct::calc_size('L')
      (_v110.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
      _v111 = _v110.stamp
      _x = _v111
      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
      _v110.frame_id = str[start..(end_point-1)]
      _v112 = val1.pose
      _v113 = _v112.position
      _x = _v113
      start = end_point
      end_point += ROS::Struct::calc_size('d3')
      (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
      _v114 = _v112.orientation
      _x = _v114
      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)])
      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)]
      @poses.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @erases = []
    length.times do
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1 = str[start..(end_point-1)]
      @erases.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/InteractiveMarkerUpdate.rb', line 28

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 32

def message_definition
  "# Identifying string. Must be unique in the topic namespace
# that this server works on.
string server_id

# Sequence number.
# The client will use this to detect if it has missed an update.
uint64 seq_num

# Type holds the purpose of this message.  It must be one of UPDATE or KEEP_ALIVE.
# UPDATE: Incremental update to previous state. 
#         The sequence number must be 1 higher than for
#         the previous update.
# KEEP_ALIVE: Indicates the that the server is still living.
#             The sequence number does not increase.
#             No payload data should be filled out (markers, poses, or erases).
uint8 KEEP_ALIVE = 0
uint8 UPDATE = 1

uint8 type

#Note: No guarantees on the order of processing.
#      Contents must be kept consistent by sender.

#Markers to be added or updated
InteractiveMarker[] markers

#Poses of markers that should be moved
InteractiveMarkerPose[] poses

#Names of markers to be erased
string[] erases

================================================================================
MSG: visualization_msgs/InteractiveMarker
# 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

================================================================================
MSG: visualization_msgs/InteractiveMarkerPose
# Time/frame info.
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

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/visualization_msgs/InteractiveMarkerUpdate.rb', line 409

def serialize(buff)
  begin
    _x = @server_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_QC.pack(@seq_num, @type))
    length = @markers.length
    buff.write(@@struct_L.pack(length))
    for val1 in @markers
      _v77 = val1.header
      buff.write(@@struct_L.pack(_v77.seq))
      _v78 = _v77.stamp
      _x = _v78
      buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
      _x = _v77.frame_id
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _v79 = val1.pose
      _v80 = _v79.position
      _x = _v80
      buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
      _v81 = _v79.orientation
      _x = _v81
      buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
      _x = val1.name
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _x = val1.description
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      buff.write(@@struct_f.pack(val1.scale))
      length = val1.menu_entries.length
      buff.write(@@struct_L.pack(length))
      for val2 in val1.menu_entries
        _x = val2
        buff.write(@@struct_L2.pack(_x.id, _x.parent_id))
        _x = val2.title
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        _x = val2.command
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        buff.write(@@struct_C.pack(val2.command_type))
      end
      length = val1.controls.length
      buff.write(@@struct_L.pack(length))
      for val2 in val1.controls
        _x = val2.name
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
        _v82 = val2.orientation
        _x = _v82
        buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val2
        buff.write(@@struct_C3.pack(_x.orientation_mode, _x.interaction_mode, _x.always_visible))
        length = val2.markers.length
        buff.write(@@struct_L.pack(length))
        for val3 in val2.markers
          _v83 = val3.header
          buff.write(@@struct_L.pack(_v83.seq))
          _v84 = _v83.stamp
          _x = _v84
          buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
          _x = _v83.frame_id
          length = _x.length
          buff.write([length, _x].pack("La#{length}"))
          _x = val3.ns
          length = _x.length
          buff.write([length, _x].pack("La#{length}"))
          _x = val3
          buff.write(@@struct_l3.pack(_x.id, _x.type, _x.action))
          _v85 = val3.pose
          _v86 = _v85.position
          _x = _v86
          buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
          _v87 = _v85.orientation
          _x = _v87
          buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
          _v88 = val3.scale
          _x = _v88
          buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
          _v89 = val3.color
          _x = _v89
          buff.write(@@struct_f4.pack(_x.r, _x.g, _x.b, _x.a))
          _v90 = val3.lifetime
          _x = _v90
          buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
          buff.write(@@struct_C.pack(val3.frame_locked))
          length = val3.points.length
          buff.write(@@struct_L.pack(length))
          for val4 in val3.points
            _x = val4
            buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
          end
          length = val3.colors.length
          buff.write(@@struct_L.pack(length))
          for val4 in val3.colors
            _x = val4
            buff.write(@@struct_f4.pack(_x.r, _x.g, _x.b, _x.a))
          end
          _x = val3.text
          length = _x.length
          buff.write([length, _x].pack("La#{length}"))
          _x = val3.mesh_resource
          length = _x.length
          buff.write([length, _x].pack("La#{length}"))
          buff.write(@@struct_C.pack(val3.mesh_use_embedded_materials))
        end
        buff.write(@@struct_C.pack(val2.independent_marker_orientation))
        _x = val2.description
        length = _x.length
        buff.write([length, _x].pack("La#{length}"))
      end
    end
    length = @poses.length
    buff.write(@@struct_L.pack(length))
    for val1 in @poses
      _v91 = val1.header
      buff.write(@@struct_L.pack(_v91.seq))
      _v92 = _v91.stamp
      _x = _v92
      buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
      _x = _v91.frame_id
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _v93 = val1.pose
      _v94 = _v93.position
      _x = _v94
      buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
      _v95 = _v93.orientation
      _x = _v95
      buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
      _x = val1.name
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
    end
    length = @erases.length
    buff.write(@@struct_L.pack(length))
    for val1 in @erases
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end