本文整理匯總了Python中visualization_msgs.msg.InteractiveMarkerControl.markers方法的典型用法代碼示例。如果您正苦於以下問題：Python InteractiveMarkerControl.markers方法的具體用法？Python InteractiveMarkerControl.markers怎麽用？Python InteractiveMarkerControl.markers使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類visualization_msgs.msg.InteractiveMarkerControl的用法示例。
在下文中一共展示了InteractiveMarkerControl.markers方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: publish_gripper
# 需要導入模塊: from visualization_msgs.msg import InteractiveMarkerControl [as 別名]
# 或者: from visualization_msgs.msg.InteractiveMarkerControl import markers [as 別名]
def publish_gripper(server, pose_stamped, name):
"""Publishes a marker representing a gripper.
Code taken from action_step_marker.py in PR2/PbD.
Args:
server: An InteractiveMarkerServer
pose_stamped: A PoseStamped giving the wrist_roll_link pose.
name: string, a unique name for this gripper.
"""
# Set angle of meshes based on gripper open vs closed.
angle = 28 * math.pi / 180.0 # Fully open.
STR_MESH_GRIPPER_FOLDER = 'package://pr2_description/meshes/gripper_v0/'
STR_GRIPPER_PALM_FILE = STR_MESH_GRIPPER_FOLDER + 'gripper_palm.dae'
STR_GRIPPER_FINGER_FILE = STR_MESH_GRIPPER_FOLDER + 'l_finger.dae'
STR_GRIPPER_FINGERTIP_FILE = STR_MESH_GRIPPER_FOLDER + 'l_finger_tip.dae'
# Make transforms in preparation for meshes 1, 2, and 3.
# NOTE(mbforbes): There are some magic numbers in here that are
# used a couple times. Seems like a good candidate for
# refactoring to constants, but I think they're more clear if
# left in here as (a) they likely won't be changed, and (b) it's
# easier to understand the computations with them here.
transform1 = tf.transformations.euler_matrix(0, 0, angle)
transform1[:3, 3] = [0.07691, 0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
# Create mesh 1 (palm).
mesh1 = Marker()
mesh1.header.frame_id = pose_stamped.header.frame_id
mesh1.mesh_use_embedded_materials = True
mesh1.type = Marker.MESH_RESOURCE
mesh1.scale.x = 1.0
mesh1.scale.y = 1.0
mesh1.scale.z = 1.0
mesh1.mesh_resource = STR_GRIPPER_PALM_FILE
mesh1.pose = pose_stamped.pose
# Create mesh 2 (finger).
mesh2 = Marker()
mesh2.mesh_use_embedded_materials = True
mesh2.type = Marker.MESH_RESOURCE
mesh2.scale.x = 1.0
mesh2.scale.y = 1.0
mesh2.scale.z = 1.0
mesh2.mesh_resource = STR_GRIPPER_FINGER_FILE
mesh2.pose = _get_pose_from_transform(t_proximal)
# Create mesh 3 (fingertip).
mesh3 = Marker()
mesh3.mesh_use_embedded_materials = True
mesh3.type = Marker.MESH_RESOURCE
mesh3.scale.x = 1.0
mesh3.scale.y = 1.0
mesh3.scale.z = 1.0
mesh3.mesh_resource = STR_GRIPPER_FINGERTIP_FILE
mesh3.pose = _get_pose_from_transform(t_distal)
# Make transforms in preparation for meshes 4 and 5.
quat = tf.transformations.quaternion_multiply(
tf.transformations.quaternion_from_euler(math.pi, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, angle))
transform1 = tf.transformations.quaternion_matrix(quat)
transform1[:3, 3] = [0.07691, -0.01, 0]
transform2 = tf.transformations.euler_matrix(0, 0, -angle)
transform2[:3, 3] = [0.09137, 0.00495, 0]
t_proximal = transform1
t_distal = tf.transformations.concatenate_matrices(transform1, transform2)
# Create mesh 4 (other finger).
mesh4 = Marker()
mesh4.mesh_use_embedded_materials = True
mesh4.type = Marker.MESH_RESOURCE
mesh4.scale.x = 1.0
mesh4.scale.y = 1.0
mesh4.scale.z = 1.0
mesh4.mesh_resource = STR_GRIPPER_FINGER_FILE
mesh4.pose = _get_pose_from_transform(t_proximal)
# Create mesh 5 (other fingertip).
mesh5 = Marker()
mesh5.mesh_use_embedded_materials = True
mesh5.type = Marker.MESH_RESOURCE
mesh5.scale.x = 1.0
mesh5.scale.y = 1.0
mesh5.scale.z = 1.0
mesh5.mesh_resource = STR_GRIPPER_FINGERTIP_FILE
mesh5.pose = _get_pose_from_transform(t_distal)
# Append all meshes we made.
control = InteractiveMarkerControl()
control.markers = [mesh1, mesh2, mesh3, mesh4, mesh5]
control.interaction_mode = InteractiveMarkerControl.NONE
interactive_marker = InteractiveMarker()
interactive_marker.controls = [control]
interactive_marker.header.frame_id = pose_stamped.header.frame_id
interactive_marker.pose = pose_stamped.pose
#.........這裏部分代碼省略.........