ROS在rviz中的不同位置显示文字(visualization_msgs::MarkerArray的使用)

Posted 2023-04-19

参考技术A 本文实现在rviz中指定位置显示文字

1.在特定地方显示一行文字

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include<iostream>

using namespace std;

int main( int argc, char** argv )



    ros::init(argc, argv, "showline");

    ros::NodeHandle n;

    ros::Publisher markerPub = n.advertise<visualization_msgs::Marker>("TEXT_VIEW_FACING", 10);

    visualization_msgs::Marker marker;

    marker.header.frame_id="/odom";

    marker.header.stamp = ros::Time::now();

    marker.ns = "basic_shapes";

    marker.action = visualization_msgs::Marker::ADD;

    marker.pose.orientation.w = 1.0;

    marker.id =0;

    marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;

    marker.scale.z = 0.2;

    marker.color.b = 0;

    marker.color.g = 0;

    marker.color.r = 255;

    marker.color.a = 1;

    ros::Rate r(1);

    int k=0;

    while(1)

   

        geometry_msgs::Pose pose;

        pose.position.x =  (float)(k++)/10;

        pose.position.y =  0;

        pose.position.z =0;

        ostringstream str;

        str<<k;

        marker.text=str.str();

        marker.pose=pose;

        markerPub.publish(marker);

        cout<<"k="<<k<<endl;

        r.sleep();

   

    return 0;



如上例子,动态的在geometry_msgs::Pose pose 处(x = (float)(k++)/10)显示当前的k值.

2.在同时在不同地方显示不同文字

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>

#include<visualization_msgs/MarkerArray.h>

#include<iostream>

using namespace std;

int main( int argc, char** argv )



    ros::init(argc, argv, "showline");

    ros::NodeHandle n;

    ros::Publisher markerArrayPub = n.advertise<visualization_msgs::MarkerArray>("MarkerArray", 10);

    visualization_msgs::MarkerArray markerArray;

    ros::Rate r(1);

    int k=0;

    while(k<100)

   

        visualization_msgs::Marker marker;

        marker.header.frame_id="/odom";

        marker.header.stamp = ros::Time::now();

        marker.ns = "basic_shapes";

        marker.action = visualization_msgs::Marker::ADD;

        marker.pose.orientation.w = 1.0;

        marker.id =k;

        marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;

        marker.scale.z = 0.1;

        marker.color.b = 255;

        marker.color.g = 255;

        marker.color.r = 255;

        marker.color.a = 1;

        geometry_msgs::Pose pose;

        pose.position.x =  (float)(k)/10;

        pose.position.y =  0;

        pose.position.z =0;

        ostringstream str;

        str<<k;

        marker.text=str.str();

        marker.pose=pose;

        cout<<"k="<<k<<endl;

        markerArray.markers.push_back(marker);

        cout<<"markerArray.markers.size()"<<markerArray.markers.size()<<endl;

        markerArrayPub.publish(markerArray);

        r.sleep();

        k++;

   

    return 0;

[实例]ROS使用OpenCV读取图像并发布图像消息在rviz中显示

思路：
（1）使用opencv读取本地图像
（2）调用cv_bridge::CvImage（）.toImageMsg()将本地图像发送给rviz显示

一、使用opencv读取本地图像并发布图像消息

（1）利用catkin新建一个工程叫rosopencv,并进行初始化

 mkdir -p rosopencv/src
 cd rosopencv/src
 catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport
 cd ..
 catkin_make
 source ./devel/setup.bash

（2）编辑主函数代码

主函数rosopencv.cpp内容如下

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

#include <stdio.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("camera/image", 1);

  cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);
  if(image.empty()){
   printf("open error\n");
   }
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();

  ros::Rate loop_rate(5);
  while (nh.ok()) {
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
}

注意:cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);这句中的"/home/topeet/test.jpg"需要改成自己图片的路径.

（3）编辑CmakeLists.txt

在工程目录下的/src/rosopencv/src/CmakeLists.txt中加入如下内容

    add_executable(rosopencv src/rosopencv.cpp)  
    target_link_libraries(rosopencv ${catkin_LIBRARIES})  
    add_dependencies(rosopencv robot_vision_generate_messages_cpp)

二、编译和运行

编译

cd ~/dev/workspace/rosopencv
catkin_make

运行

rosrun rosopencv rosopencv 

输入

rostopic echo /camera/image

全是数字。

三、在rviz 中显示

运行rviz

rosrun rviz rviz

左边点击add
选中image
在image的topic选项中选
/camera/image

 

转载自:http://blog.csdn.net/ktigerhero3/article/details/70157582