ROS-Tutorial/mark.py at master · nschiele/ROS-Tutorial · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
#!/usr/bin/env python

import rospy, roslib
import tf
from visualization_msgs.msg import Marker
import std_msgs.msg as stm
from multiprocessing import Process


def pub_mark():
    rospy.init_node("mark")

    while not rospy.is_shutdown():

        # Creates Marker object named marker
        marker = Marker()

        # Define marker parameters
        marker.header.frame_id = "/world1"
        marker.header.stamp = rospy.Time.now()
        marker.type = Marker.CUBE
        marker.action = Marker.ADD
        marker.scale.x = 1
        marker.scale.y = 1
        marker.scale.z = 1
        marker.id = 10
        marker.pose.position.x = 0;
        marker.pose.position.y = 0;
        marker.pose.position.z = 0;
        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.color = stm.ColorRGBA(r=0.0, g=1.0, b=0.0, a=0.8)
        marker.lifetime.secs = 10

        #Create Publisher called 'process_test' of type Marker
        pub = rospy.Publisher("Otto_von_Vismark", Marker, queue_size=10)

        #Publish marker
        pub.publish(marker)


if __name__ == "__main__":
    pub_mark()