Python Marker.text方法代码示例

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def publish_waypoint_markers(self):
        pub_waypoint_markers = rospy.Publisher('waypoint_markers', MarkerArray)
        marker_array = MarkerArray()
        for i in range(len(self.waypoints)):
            waypoint = self.waypoints[i]
            waypoint_marker = Marker()
            waypoint_marker.id = i
            waypoint_marker.header.frame_id = "/map"
            waypoint_marker.header.stamp = rospy.Time.now()
            if (waypoint.type == 'P'):
                waypoint_marker.type = 5  # Line List
                waypoint_marker.text = 'waypoint_%s_point' % i
                waypoint_marker.color.r = 176.0
                waypoint_marker.color.g = 224.0
                waypoint_marker.color.b = 230.0
                waypoint_marker.color.a = 0.5
                waypoint_marker.scale.x = 0.5
                c = waypoint.coordinate
                waypoint_marker.points.append(Point(c.x, c.y, c.z))
                waypoint_marker.points.append(Point(c.x, c.y, c.z + 3.0))
            else:
                waypoint_marker.type = 3  # Cylinder
                waypoint_marker.text = 'waypoint_%s_cone' % i
                waypoint_marker.color.r = 255.0
                waypoint_marker.color.g = 69.0
                waypoint_marker.color.b = 0.0
                waypoint_marker.color.a = 1.0
                waypoint_marker.scale.x = 0.3
                waypoint_marker.scale.y = 0.3
                waypoint_marker.scale.z = 0.5
                waypoint_marker.pose.position = waypoint.coordinate
            marker_array.markers.append(waypoint_marker)

        if self.current_waypoint_idx != len(self.waypoints):
            current_waypoint_marker = Marker()
            current_waypoint_marker.id = 999
            current_waypoint_marker.header.frame_id = "/map"
            current_waypoint_marker.header.stamp = rospy.Time.now()
            current_waypoint_marker.type = 2  # Sphere
            current_waypoint_marker.text = 'current_waypoint'
            current_waypoint_marker.color.r = 255.0
            current_waypoint_marker.color.g = 0.0
            current_waypoint_marker.color.b = 0.0
            current_waypoint_marker.color.a = 1.0
            current_waypoint_marker.scale.x = 0.3
            current_waypoint_marker.scale.y = 0.3
            current_waypoint_marker.scale.z = 0.3
            current_waypoint = self.waypoints[self.current_waypoint_idx]
            current_waypoint_marker.pose.position.x = current_waypoint.coordinate.x
            current_waypoint_marker.pose.position.y = current_waypoint.coordinate.y
            current_waypoint_marker.pose.position.z = 1.0
            marker_array.markers.append(current_waypoint_marker)
 
        pub_waypoint_markers.publish(marker_array)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def create_line_marker(p1, p2, frame_id):
        h = Header()
        h.frame_id = frame_id #tie marker visualization to laser it comes from
        h.stamp = rospy.Time.now() # Note you need to call rospy.init_node() before this will work
        
        #create marker:person_marker, modify a red cylinder, last indefinitely
        mark = Marker()
        mark.header = h
        mark.ns = "unit_vector"
        mark.id = 0
        mark.type = Marker.LINE_STRIP
        mark.action = 0
        mark.scale.x = 0.2 
        mark.color = color = ColorRGBA(0.2, 0.5, 0.7, 1.0)
        mark.text = "unit_vector"

        points = []
        pt1 = Point(p1[0], p1[1], p1[2])
        pt2 = Point(p2[0], p2[1], p2[2])
        # print "Pt 1 ", pt1
        # print "Pt 2 ", pt2
        points.append(pt1)
        points.append(pt2)
        mark.points = points

        return mark

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def pub_arrow(self, pos1, pos2, color, mag_force):
        marker = Marker()
        marker.header.frame_id = self.frame
        marker.header.stamp = rospy.Time.now()

        marker.ns = "basic_shapes"
        marker.id = 99999

        marker.type = Marker.ARROW
        marker.action = Marker.ADD

        pt1 = Point()
        pt2 = Point()
        pt1.x = pos1[0,0]
        pt1.y = pos1[1,0]
        pt1.z = pos1[2,0]
        pt2.x = pos2[0,0]
        pt2.y = pos2[1,0]
        pt2.z = pos2[2,0]
        marker.points.append(pt1)
        marker.points.append(pt2)

        marker.scale.x = 0.05
        marker.scale.y = 0.1
        #marker.scale.z = scale[2]
        marker.color.r = color[0]
        marker.color.g = color[1]
        marker.color.b = color[2]
        marker.color.a = color[3]
        marker.lifetime = rospy.Duration()
        marker.text = mag_force
        self.pub.publish(marker)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
def addFlag():

    # get the cooprations of turtlebot in map using tf
    # listener = tf.TransformListener()    
    # listener.waitForTransform("/odom", "/base_link", rospy.Time(0), rospy.Duration(1))
    # (position, rotation) = listener.lookupTransform("/odom", "/base_link", rospy.Time(0))
    
    global poseX, poseY, poseZ
    

    marker_pub = rospy.Publisher("warning_marker",Marker,queue_size=1)
    shape = Marker.TEXT_VIEW_FACING    
    for i in range(5):
        marker = Marker()
        marker.header.frame_id = 'map'
        marker.color.r, marker.color.b, marker.color.g = 1, 0, 0
        marker.color.a = 1
        marker.ns = "WarningFlag"
        marker.id = 1024
        marker.pose.position.x, marker.pose.position.y, marker.pose.position.z =  poseX, poseY , poseZ+0.5#position[0], position[1]-0.7, 0
        marker.scale.x, marker.scale.y, marker.scale.z = 0.01, 0.01, 0.2
        marker.type = shape
        marker.text = "WARNING"
        marker.lifetime = rospy.Duration(5)
        marker_pub.publish(marker)
        rospy.sleep(1)        

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def __setTextMarker(self, id, waypoint, colors = [1,0,0,0]):
        try:
            marker = Marker()
            marker.header.frame_id = '/map'
            marker.header.stamp = rospy.Time.now()
            marker.ns = 'patrol'
            marker.id = id + len(self.__waypoints)
            marker.type = marker.TEXT_VIEW_FACING
            marker.action = marker.ADD
            marker.text = str(id)
            marker.scale.x = 0.2
            marker.scale.y = 0.2
            marker.scale.z = 0.2
            marker.color.a = colors[0]
            marker.color.r = colors[1]
            marker.color.b = colors[2]
            marker.color.g = colors[3]

            marker.pose.orientation.w = 1.0
            marker.pose.position.x = waypoint.target_pose.pose.position.x
            marker.pose.position.y = waypoint.target_pose.pose.position.y
            marker.pose.position.z = waypoint.target_pose.pose.position.z

            return marker

        except Exception as ex:
            rospy.logwarn('PatrolNode.__setMarker- ', ex.message)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def get_current_position_marker(self, link, offset=None, root="", scale=1, color=(0,1,0,1), idx=0):
        (mesh, pose) = self.get_link_data(link)

        marker = Marker()

        if offset==None :
            marker.pose = pose
        else :
            marker.pose = toMsg(fromMsg(offset)*fromMsg(pose))

        marker.header.frame_id = root
        marker.header.stamp = rospy.get_rostime()
        marker.ns = self.robot_name
        marker.mesh_resource = mesh
        marker.type = Marker.MESH_RESOURCE
        marker.action = Marker.MODIFY
        marker.scale.x = scale
        marker.scale.y = scale
        marker.scale.z = scale
        marker.color.r = color[0]
        marker.color.g = color[1]
        marker.color.b = color[2]
        marker.color.a = color[3]
        marker.text = link
        marker.id = idx
        marker.mesh_use_embedded_materials = True
        return marker

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def pub_body(self, pos, quat, scale, color, num, shape, text = ''):
        marker = Marker()
        marker.header.frame_id = self.frame
        marker.header.stamp = rospy.Time.now()

        marker.ns = "basic_shapes"
        marker.id = num

        marker.type = shape
        marker.action = Marker.ADD

        marker.pose.position.x = pos[0]
        marker.pose.position.y = pos[1]
        marker.pose.position.z = pos[2]
        marker.pose.orientation.x = quat[0]
        marker.pose.orientation.y = quat[1]
        marker.pose.orientation.z = quat[2]
        marker.pose.orientation.w = quat[3]
        marker.scale.x = scale[0]
        marker.scale.y = scale[1]
        marker.scale.z = scale[2]
        marker.color.r = color[0]
        marker.color.g = color[1]
        marker.color.b = color[2]
        marker.color.a = color[3]
        marker.lifetime = rospy.Duration()
        marker.text = text
        self.pub.publish(marker)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
def text_marker(marker_id, _point, txt):
    #waypoints = list()
    #waypoints.append(Pose(Point(2.680, 1.600, 0.000), 0.1))
    #waypoints.append(Pose(Point(2.680, -1.600, 0.000), 0.1))
    #waypoints.append(Pose(Point(-2.680, 1.600, 0.000), 0.1))
    #waypoints.append(Pose(Point(-2.680, -1.600, 0.000), 0.1))
    #set up markeri
    marker = Marker()
    marker_scale = 0.6
    marker_lifetime = 0
    marker_ns = 'point name'
    marker_color= {'r':0.0, 'g':1.0, 'b':0.0, 'a':1.0}
    marker.ns = marker_ns
    marker.id = marker_id
  #  marker.type = Marker.SPHERE
    marker.type = Marker.TEXT_VIEW_FACING
    marker.action = Marker.ADD
    marker.header.frame_id = '/map'
    marker.lifetime = rospy.Duration(marker_lifetime)
    marker.scale.x = marker_scale
    marker.scale.y = marker_scale
    marker.scale.z = marker_scale
    marker.color.r = marker_color['r']
    marker.color.g = marker_color['g']
    marker.color.b = marker_color['b']
    marker.color.a = marker_color['a']
    marker.text = txt
    marker.header.stamp = rospy.Time.now()
    marker.pose.position.x = _point.x
    marker.pose.position.y = _point.y
    marker.pose.position.z = _point.z
    print txt
    return marker

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
 def publish_marker(cls, x_cord, y_cord, mid):
     new_marker = Marker(type = Marker.CUBE, action=Marker.ADD)
     new_marker.header.frame_id = "/base_laser_front_link"
     new_marker.header.stamp = rospy.Time.now()
     new_marker.ns = "basic_shapes"
     new_marker.id = mid
     new_marker.pose.position.x = x_cord
     new_marker.pose.position.y = y_cord
     new_marker.pose.position.z = 0.0
     #pointxyz
     new_marker.pose.orientation.x = 0
     new_marker.pose.orientation.y = 0
     new_marker.pose.orientation.z = 0.0
     new_marker.pose.orientation.w = 1
     new_marker.scale.x = 0.005
     new_marker.scale.y = 0.005
     new_marker.scale.z = 0.005
     if mid == 0:
         new_marker.color.r = 1
     elif mid == 5:
         new_marker.color.g = 1
     elif mid == 10:
         new_marker.color.b = 1
     
     new_marker.color.a = 1
     new_marker.text = "marker"
     
     new_marker.lifetime = rospy.Duration(1)
     SmachGlobalData.pub_marker.publish(new_marker)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
 def __publish_marker_for_object(self, object, txt):
     marker = Marker()
     marker.header.frame_id = object.object.header.frame_id
     marker.header.stamp = rospy.Time(0)
     marker.ns = "scene_classifier_marker"
     self.marker_id = self.marker_id + 1
     marker.id = self.marker_id
     marker.type = Marker.TEXT_VIEW_FACING
     marker.action = Marker.ADD
     marker.pose.position.x = object.c_centroid.x
     marker.pose.position.y = object.c_centroid.y
     marker.pose.position.z = object.c_centroid.z
     marker.pose.orientation.x = 0.0
     marker.pose.orientation.y = 0.0
     marker.pose.orientation.z = 0.0
     marker.pose.orientation.w = 1.0
     marker.scale.x = 0.5
     marker.scale.y = 0.1
     marker.scale.z = 0.1
     marker.color.a = 1.0
     marker.color.r = 0.0
     marker.color.g = 1.0
     marker.color.b = 0.0
     marker.text = txt
     marker.lifetime = rospy.Duration.from_sec(10)
     self.marker_publisher.publish(marker)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
 def draw_marker(
     self,
     ps,
     id=None,
     type=Marker.CUBE,
     ns="default_ns",
     rgba=(0, 1, 0, 1),
     scale=(0.03, 0.03, 0.03),
     text="",
     duration=0,
 ):
     """
     If markers aren't showing up, it's probably because the id's are being overwritten. Make sure to set
     the ids and namespace.
     """
     if id is None:
         id = self.get_unused_id()
     marker = Marker(type=type, action=Marker.ADD)
     marker.ns = ns
     marker.header = ps.header
     marker.pose = ps.pose
     marker.scale = gm.Vector3(*scale)
     marker.color = stdm.ColorRGBA(*rgba)
     marker.id = id
     marker.text = text
     marker.lifetime = rospy.Duration(duration)
     self.pub.publish(marker)
     self.ids.add(id)
     return MarkerHandle(marker, self.pub)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
def get_vehicle_marker(object, header, marker_id=0, is_player=False):
    """
    Return a marker msg

    :param object: carla agent object (pb2 object (vehicle, pedestrian or traffic light))
    :param header: ros header (stamp/frame_id)
    :param marker_id: a marker id (int32)
    :param is_player: True if player else False (usefull to change marker color)
    :return: a ros marker msg
    """
    marker = Marker(header=header)
    marker.color.a = 0.3
    if is_player:
        marker.color.g = 1
        marker.color.r = 0
        marker.color.b = 0
    else:
        marker.color.r = 1
        marker.color.g = 0
        marker.color.b = 0

    marker.id = marker_id
    marker.text = "id = {}".format(marker_id)
    update_marker_pose(object, marker)

    return marker

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def control_points_callback(self, msg):
        subdiv_points = msg
        for i in range(self.subdivisions):
            subdiv_points = self.subdivide(subdiv_points)
        self.curve_pub.publish(subdiv_points)

        marker = Marker()
        marker.header.frame_id = "map"
        marker.header.stamp = rospy.Time.now()
        marker.ns = "subdivision"
        marker.id = 0  # self.subdivisions
        marker.action = Marker.ADD
        marker.type = Marker.LINE_STRIP
        marker.pose.orientation.w = 1.0
        marker.scale.x = 0.05
        marker.scale.y = 0.05
        marker.scale.z = 0.05
        marker.color.r = 1.0
        marker.color.g = 1.0
        marker.color.b = 1.0
        marker.color.a = 1.0
        marker.text = str(self.subdivisions)
        for pt in subdiv_points.points:
            gpt = Point()
            gpt.x = pt.x
            gpt.y = pt.y
            marker.points.append(gpt)
        marker.points.append(marker.points[0])
        self.marker_pub.publish(marker)

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
def make_label(text, position, id = 0 ,duration = 5.0, color=[1.0,1.0,1.0]):
    """ Helper function for generating visualization markers.
    
        Args:
            text (str): Text string to be displayed.
            position (list): List containing [x,y,z] positions
            id (int): Integer identifying the label
            duration (rospy.Duration): How long the label will be displayed for
            color (list): List of label color floats from 0 to 1 [r,g,b]
        
        Returns: 
            Marker: A text view marker which can be published to RViz
    """
    marker = Marker()
    marker.header.frame_id = '/world'
    marker.id = id
    marker.type = marker.TEXT_VIEW_FACING
    marker.text = text
    marker.action = marker.ADD
    marker.scale.x = 0.05
    marker.scale.y = 0.05
    marker.scale.z = 0.05
    marker.color.a = 1.0
    marker.color.r = color[0]
    marker.color.g = color[1]
    marker.color.b = color[2]
    marker.lifetime = rospy.Duration(duration)
    marker.pose.orientation.w = 1.0
    marker.pose.position.x = position[0]
    marker.pose.position.y = position[1]
    marker.pose.position.z = position[2]
    return marker

# 需要导入模块: from visualization_msgs.msg import Marker [as 别名]
# 或者: from visualization_msgs.msg.Marker import text [as 别名]
    def poseStampedToLabeledSphereMarker(cls, psdata, label, fmt="{label} %Y-%m-%d %H:%M:%S", zoffset=0.05):
        "[poseStamped, meta] -> sphereMarker"
        ps, meta = psdata
        res = []
        h = Header()
        h.stamp = rospy.Time.now()
        h.frame_id = ps.header.frame_id
        sphere = Marker(type=Marker.SPHERE,
                   action=Marker.ADD,
                   header=h,
                   id=cls.marker_id)
        sphere.scale.x = 0.07
        sphere.scale.y = 0.07
        sphere.scale.z = 0.07
        sphere.pose = ps.pose
        sphere.color = ColorRGBA(1.0,0,0,1.0)
        sphere.ns = "db_play"
        sphere.lifetime = rospy.Time(3)
        cls.marker_id += 1
        res.append(sphere)

        text = Marker(type=Marker.TEXT_VIEW_FACING,
                   action=Marker.ADD,
                   header=h,
                   id=cls.marker_id)
        text.scale.z = 0.1
        text.pose = deepcopy(ps.pose)
        text.pose.position.z += zoffset
        text.color = ColorRGBA(1.0,1.0,1.0,1.0)
        text.text = meta["inserted_at"].strftime(fmt).format(label=label)
        text.ns = "db_play_text"
        text.lifetime = rospy.Time(300)
        cls.marker_id += 1
        res.append(text)
        return res