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Marker link offset (#9) on kinetic-devel #21

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Marker link offset (#9) on kinetic-devel #21

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15 changes: 12 additions & 3 deletions src/marker_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#include <interactive_markers/interactive_marker_server.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point.h>
#include <ros/ros.h>
#include <tf/tf.h>

Expand All @@ -52,6 +53,9 @@ class MarkerServer

nh.param<std::string>("link_name", link_name, "/base_link");
nh.param<std::string>("robot_name", robot_name, "robot");
nh.param<double>("link_offset/x", link_offset.x, 0);
nh.param<double>("link_offset/y", link_offset.y, 0);
nh.param<double>("link_offset/z", link_offset.z, 0);

if (nh.getParam("linear_scale", linear_drive_scale_map))
{
Expand Down Expand Up @@ -94,6 +98,8 @@ class MarkerServer
double max_angular_velocity;
double marker_size_scale;

geometry_msgs::Point link_offset;

std::string link_name;
std::string robot_name;
};
Expand Down Expand Up @@ -131,7 +137,9 @@ void MarkerServer::processFeedback(
vel_pub.publish(vel);

// Make the marker snap back to robot
server.setPose(robot_name + "_twist_marker", geometry_msgs::Pose());
geometry_msgs::Pose updated_pose;
updated_pose.position = link_offset;
server.setPose(robot_name + "_twist_marker", updated_pose);

server.applyChanges();
}
Expand All @@ -145,6 +153,9 @@ void MarkerServer::createInteractiveMarkers()
int_marker.description = "twist controller for " + robot_name;
int_marker.scale = marker_size_scale;

// Add any offsets to the marker position.
int_marker.pose.position = link_offset;

InteractiveMarkerControl control;

control.orientation_mode = InteractiveMarkerControl::FIXED;
Expand Down Expand Up @@ -188,8 +199,6 @@ void MarkerServer::createInteractiveMarkers()
control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
int_marker.controls.push_back(control);



server.insert(int_marker, boost::bind(&MarkerServer::processFeedback, this, _1));

server.applyChanges();
Expand Down