ez_interactive_marker

Easily create interactive markers from yaml files.

Quick start

You can create a box with a menu by creating the following setting file.

sample:
  interactive_marker:
    name: 'simple_cube'
    header: {frame_id: 'base_link'}
    pose: {orientation: {w: 1.0}}
    controls:
      - always_visible: True
        interaction_mode: !enum [visualization_msgs/InteractiveMarkerControl, BUTTON]
        markers:
          - type: !enum [visualization_msgs/Marker, CUBE]
            scale: {x: 0.45, y: 0.45, z: 0.45}
            color: {r: 0.0, g: 0.5, b: 0.5, a: 1.0}
            pose: {orientation: {w: 1.0}}
  menu:
    - title: "menu0"
    - title: "menu1"
      children: [{title: "submenu0"}, {title: "submenu1"}]

Please execute the following command.

cd example
rosrun ez_interactive_marker ez_interactive_marker -c simple_cube.yaml

Or the following commands are publishing the configuration.

rosrun ez_interactive_marker ez_interactive_marker
# another console
cd example
rosrun ez_interactive_marker publish_config.py simple_cube.yaml

Supported yaml tags

It is possible to use several tags in the configuration file.

include

This tag includes the written configuration file and expand the contents.

!include sub_settings.yaml

enum

This tag expands the enum variable of the specified message module.

!enum [visualization_msgs/Marker, CUBE]

euler

This tag converts euler xyz angle to quaternion.

!euler [3.14159, 0.0, 0.0] # -> {x: 1.0, y: 0.0, z: 0.0, w: 0.0}

degrees

This tag converts degrees to radians.

!degrees 90.0 # -> 1.5708

Subscribers

Some subscribers are added when generating a interactive marker.

• /ez_interactive_marker/<interactive marker name>/update_interactive_marker
  • Keep the interactive marker’s name and update it using InteractiveMarker message.
• /ez_interactive_marker/<interactive marker name>/update_pose
  • Update the interactive marker’s pose.
• /ez_interactive_marker/<interactive marker name>/add_control
  • Add InteractiveMarkerControl to the interactive marker.
• /ez_interactive_marker/<interactive marker name>/remove_control
  • Delete matching InteractiveMarkerControl with InteractiveMarkerControl.name.

Menu settings

File truncated at 100 lines see the full file