C++ (Cpp) MenuHandler::apply Exemples

Exemple #1

Fichier : basic_controls.cpp Projet : mainchuh/ROSMAV

// %Tag(Menu)%
void makeMenuMarker()
{
  InteractiveMarker int_marker;
  int_marker.header.frame_id = "/base_link";
  int_marker.pose.position.y = -3.0 * marker_pos++;;
  int_marker.scale = 1;

  int_marker.name = "context_menu";
  int_marker.description = "Context Menu\n(Right Click)";

  InteractiveMarkerControl control;

  // make one control using default visuals
  control.interaction_mode = InteractiveMarkerControl::MENU;
  control.description="Options";
  control.name = "menu_only_control";
  int_marker.controls.push_back(control);

  // make one control showing a box
  Marker marker = makeBox( int_marker );
  control.markers.push_back( marker );
  control.always_visible = true;
  int_marker.controls.push_back(control);

  server->insert(int_marker);
  server->setCallback(int_marker.name, &processFeedback);
  menu_handler.apply( *server, int_marker.name );
}

Exemple #2

Fichier : plan_out_of_vision.cpp Projet : CloPeMa/clopema_certh_ros

void makeMenuMarker() {
	InteractiveMarker int_marker;
	int_marker.header.frame_id = "/base_link";
	int_marker.pose.position.z = 2.5;
	int_marker.scale = 1;
	int_marker.name = "context_menu";
	int_marker.description = "Vision Menu";
	InteractiveMarkerControl control;
	control.interaction_mode = InteractiveMarkerControl::MENU;
	control.description = "Options";
	control.name = "menu_only_control";

	Marker marker;
	marker.type = Marker::SPHERE;
	marker.scale.x = 0.45;
	marker.scale.y = 0.45;
	marker.scale.z = 0.45;
	marker.color.r = 0.0;
	marker.color.g = 0.0;
	marker.color.b = 1.0;
	marker.color.a = 1.0;

	control.markers.push_back(marker);
	control.always_visible = true;
	int_marker.controls.push_back(control);

	server->insert(int_marker);
	menu_handler.apply(*server, int_marker.name);
}

Exemple #3

Fichier : foot_interface_ocu.cpp Projet : weiweihuang/Pathplanning

// %Tag(Menu)%
void makeMenuMarker( const tf::Vector3& position )
{
  InteractiveMarker int_marker;
  int_marker.header.frame_id = "/l_foot";
  tf::pointTFToMsg(position, int_marker.pose.position);
  int_marker.scale = 1;

  int_marker.name = "Command Menu";
  int_marker.description = "Command Menu\n(Right Click)";

  InteractiveMarkerControl control;

  control.interaction_mode = InteractiveMarkerControl::MENU;
  control.name = "menu_only_control";

  Marker marker = makeManuBox();
  control.markers.push_back( marker );
  //control.always_visible = true;
  int_marker.controls.push_back(control);

  server->insert(int_marker);
  server->setCallback(int_marker.name, &processFeedback);
  menu_handler.apply( *server, int_marker.name );
}

Exemple #4

Fichier : update_marker.cpp Projet : 1508189250/birl_baxter

// %Tag(6DOF)%
void make6DofMarker( bool fixed, unsigned int interaction_mode, const tf::Vector3& position, bool show_6dof )
{
  InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  tf::pointTFToMsg(position, int_marker.pose.position);
  int_marker.scale = 1;

  int_marker.name = "simple_6dof";
  int_marker.description = "Simple 6-DOF Control";

  // insert a box
  makeBoxControl(int_marker);
  int_marker.controls[0].interaction_mode = interaction_mode;

  InteractiveMarkerControl control;

  if ( fixed )
  {
    int_marker.name += "_fixed";
    int_marker.description += "\n(fixed orientation)";
    control.orientation_mode = InteractiveMarkerControl::FIXED;
  }

  if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
  {
      std::string mode_text;
      if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_3D )         mode_text = "MOVE_3D";
      if( interaction_mode == visualization_msgs::InteractiveMarkerControl::ROTATE_3D )       mode_text = "ROTATE_3D";
      if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D )  mode_text = "MOVE_ROTATE_3D";
      int_marker.name += "_" + mode_text;
      int_marker.description = std::string("3D Control") + (show_6dof ? " + 6-DOF controls" : "") + "\n" + mode_text;
  }

  if(show_6dof)
  {
    control.orientation.w = 1;
    control.orientation.x = 1;
    control.orientation.y = 0;
    control.orientation.z = 0;
    control.name = "rotate_x";
    control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
    int_marker.controls.push_back(control);
    control.name = "move_x";
    control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
    int_marker.controls.push_back(control);

    control.orientation.w = 1;
    control.orientation.x = 0;
    control.orientation.y = 1;
    control.orientation.z = 0;
    control.name = "rotate_z";
    control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
    int_marker.controls.push_back(control);
    control.name = "move_z";
    control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
    int_marker.controls.push_back(control);

    control.orientation.w = 1;
    control.orientation.x = 0;
    control.orientation.y = 0;
    control.orientation.z = 1;
    control.name = "rotate_y";
    control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
    int_marker.controls.push_back(control);
    control.name = "move_y";
    control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
    int_marker.controls.push_back(control);
  }

  server->insert(int_marker);
  server->setCallback(int_marker.name, &processFeedback);
  if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
    menu_handler.apply( *server, int_marker.name );
}