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Added a namespace argument to publishLines(). #169

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Added a namespace argument to publishLines(). #169

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60d694d
Added namespace argument to publishLines().
olzhas Sep 14, 2020
60565de
Merge branch 'PickNikRobotics:master' into master
olzhas Sep 3, 2021
6fb874c
Added customizable id for several marker types.
olzhas Jun 9, 2022
6fc3ca2
Merge branch 'master' of github.com:olzhas/rviz_visual_tools
olzhas Jun 9, 2022
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60 changes: 33 additions & 27 deletions include/rviz_visual_tools/rviz_visual_tools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,10 @@
#include <vector>

// Eigen
#include <Eigen/Geometry>
#include <eigen_stl_containers/eigen_stl_vector_container.h>

#include <Eigen/Geometry>

// Rviz
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
Expand All @@ -57,12 +58,12 @@
#include <boost/shared_ptr.hpp>

// Messages
#include <shape_msgs/Mesh.h>
#include <std_msgs/ColorRGBA.h>
#include <graph_msgs/GeometryGraph.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Polygon.h>
#include <graph_msgs/GeometryGraph.h>
#include <shape_msgs/Mesh.h>
#include <std_msgs/ColorRGBA.h>
#include <trajectory_msgs/JointTrajectory.h>

// rviz_visual_tools
Expand Down Expand Up @@ -502,15 +503,15 @@ class RvizVisualTools
* \return true on success
*/
bool publishSpheres(const EigenSTL::vector_Vector3d& points, colors color = BLUE, scales scale = MEDIUM,
const std::string& ns = "Spheres");
const std::string& ns = "Spheres", std::size_t id = 0);
bool publishSpheres(const EigenSTL::vector_Vector3d& points, colors color, double scale = 0.1,
const std::string& ns = "Spheres");
const std::string& ns = "Spheres", std::size_t id = 0);
bool publishSpheres(const std::vector<geometry_msgs::Point>& points, colors color = BLUE, scales scale = MEDIUM,
const std::string& ns = "Spheres");
const std::string& ns = "Spheres", std::size_t id = 0);
bool publishSpheres(const std::vector<geometry_msgs::Point>& points, colors color = BLUE, double scale = 0.1,
const std::string& ns = "Spheres");
const std::string& ns = "Spheres", std::size_t id = 0);
bool publishSpheres(const std::vector<geometry_msgs::Point>& points, colors color,
const geometry_msgs::Vector3& scale, const std::string& ns = "Spheres");
const geometry_msgs::Vector3& scale, const std::string& ns = "Spheres", std::size_t id = 0);

/**
* \brief Display a marker of a series of spheres, with the possibility of different colors
Expand All @@ -521,9 +522,9 @@ class RvizVisualTools
* \return true on success
*/
bool publishSpheres(const EigenSTL::vector_Vector3d& points, const std::vector<colors>& colors, scales scale = MEDIUM,
const std::string& ns = "Spheres");
const std::string& ns = "Spheres", std::size_t id = 0);
bool publishSpheres(const std::vector<geometry_msgs::Point>& points, const std::vector<std_msgs::ColorRGBA>& colors,
const geometry_msgs::Vector3& scale, const std::string& ns = "Spheres");
const geometry_msgs::Vector3& scale, const std::string& ns = "Spheres", std::size_t id = 0);

/**
* \brief Display an arrow along the x-axis of a pose
Expand Down Expand Up @@ -649,12 +650,15 @@ class RvizVisualTools
* \param bPoints - x,y,z of end of line, as a vector
* \param colors - an enum pre-defined name of a color
* \param scale - an enum pre-defined name of a size
* \param ns - namespace of marker
* \return true on success
*/
bool publishLines(const EigenSTL::vector_Vector3d& aPoints, const EigenSTL::vector_Vector3d& bPoints,
const std::vector<colors>& colors, scales scale = MEDIUM);
const std::vector<colors>& colors, scales scale = MEDIUM, const std::string& ns = "Line Array",
std::size_t id = 0);
bool publishLines(const std::vector<geometry_msgs::Point>& aPoints, const std::vector<geometry_msgs::Point>& bPoints,
const std::vector<std_msgs::ColorRGBA>& colors, const geometry_msgs::Vector3& scale);
const std::vector<std_msgs::ColorRGBA>& colors, const geometry_msgs::Vector3& scale,
const std::string& ns = "Line Array", std::size_t id = 0);

/**
* \brief Display a series of connected lines using the LINE_STRIP method - deprecated because visual bugs
Expand All @@ -676,17 +680,19 @@ class RvizVisualTools
* \return true on success
*/
bool publishPath(const std::vector<geometry_msgs::Pose>& path, colors color = RED, scales scale = MEDIUM,
const std::string& ns = "Path");
const std::string& ns = "Path", std::size_t id = 0);
bool publishPath(const std::vector<geometry_msgs::Point>& path, colors color, scales scale,
const std::string& ns = "Path");
bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color, scales scale, const std::string& ns = "Path");
bool publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale, const std::string& ns = "Path");
const std::string& ns = "Path", std::size_t id = 0);
bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color, scales scale, const std::string& ns = "Path",
std::size_t id = 0);
bool publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale, const std::string& ns = "Path",
std::size_t id = 0);
bool publishPath(const std::vector<geometry_msgs::Point>& path, colors color = RED, double radius = 0.01,
const std::string& ns = "Path");
const std::string& ns = "Path", std::size_t id = 0);
bool publishPath(const EigenSTL::vector_Vector3d& path, colors color = RED, double radius = 0.01,
const std::string& ns = "Path");
const std::string& ns = "Path", std::size_t id = 0);
bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color = RED, double radius = 0.01,
const std::string& ns = "Path");
const std::string& ns = "Path", std::size_t id = 0);

/**
* \brief Display a marker of a series of connected colored cylinders
Expand Down Expand Up @@ -819,11 +825,11 @@ class RvizVisualTools
* \return true on success
*/
bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, colors color = BLUE,
scales scale = MEDIUM, const std::string& ns = "Cylinder");
scales scale = MEDIUM, const std::string& ns = "Cylinder", std::size_t id = 0);
bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, colors color, double radius = 0.01,
const std::string& ns = "Cylinder");
const std::string& ns = "Cylinder", std::size_t id = 0);
bool publishCylinder(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, const std_msgs::ColorRGBA& color,
double radius = 0.01, const std::string& ns = "Cylinder");
double radius = 0.01, const std::string& ns = "Cylinder", std::size_t id = 0);

/**
* \brief Display a marker of a cylinder
Expand All @@ -834,11 +840,11 @@ class RvizVisualTools
* \return true on success
*/
bool publishCylinder(const Eigen::Isometry3d& pose, colors color = BLUE, double height = 0.1, double radius = 0.01,
const std::string& ns = "Cylinder");
const std::string& ns = "Cylinder", std::size_t id = 0);
bool publishCylinder(const geometry_msgs::Pose& pose, colors color = BLUE, double height = 0.1, double radius = 0.01,
const std::string& ns = "Cylinder");
const std::string& ns = "Cylinder", std::size_t id = 0);
bool publishCylinder(const geometry_msgs::Pose& pose, const std_msgs::ColorRGBA& color, double height = 0.1,
double radius = 0.01, const std::string& ns = "Cylinder");
double radius = 0.01, const std::string& ns = "Cylinder", std::size_t id = 0);

/**
* \brief Display a mesh from file
Expand Down
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