ROS笔记之visualization_msgs-Marker的mesh_resource导入外部模型学习

ROS笔记之visualization_msgs-Marker的mesh_resource学习

code review!

文章目录

• ROS笔记之visualization_msgs-Marker的mesh_resource学习
• • 1.运行
  • 2.文件结构
  • 3.main.cc

参考博文

1.kitti之ros可视化_学习笔记--第4课：车子模型的添加

2.rviz进行kitti数据集可视化时加载小车模型报错

1.运行

2.文件结构

3.main.cc

代码

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "marker_example");
  ros::NodeHandle nh;
  ros::Publisher marker_pub = nh.advertise<visualization_msgs::Marker>("visualization_marker", 1);

  ros::Rate rate(1); // 发布频率为1Hz

  while (ros::ok())
  {
    visualization_msgs::Marker marker;
    marker.header.frame_id = "map";
    marker.header.stamp = ros::Time::now();
    marker.ns = "mesh_object";
    marker.id = 0;
    marker.type = visualization_msgs::Marker::MESH_RESOURCE;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = 0.0;
    marker.pose.position.y = 0.0;
    marker.pose.position.z = 0.0;
    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.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;
    marker.color.r = 1.0;
    marker.color.g = 1.0;
    marker.color.b = 1.0;
    marker.color.a = 1.0;
    marker.mesh_resource = "package://ros_templete/mesh/PeugeotOnyxConcept.dae";

    marker_pub.publish(marker);

    ros::spinOnce();
    rate.sleep();
  }

  return 0;
}