通过发布合适的话题可以在rviz的视图中显示合适的话题。可以在example_rviz_marker中查看例子example_rviz_marker.cpp。

#include <ros/ros.h>
#include <visualization_msgs/Marker.h> // need this for publishing markers
#include <geometry_msgs/Point.h> //data type used for markers
#include <string.h>
#include <stdio.h>
#include <example_rviz_marker/SimpleFloatSrvMsg.h> //自定义的消息类型
using namespace std;//set these two values by service callback, make available to "main"
double g_z_height = 0.0;
bool g_trigger = true;//a service to prompt a new display computation.
// E.g., to construct a plane at height z=1.0, trigger with:
// rosservice call rviz_marker_svc 1.0bool displaySvcCB(example_rviz_marker::SimpleFloatSrvMsgRequest& request,example_rviz_marker::SimpleFloatSrvMsgResponse& response) {g_z_height = request.request_float32;ROS_INFO("example_rviz_marker: received request for height %f", g_z_height);g_trigger = true; // inform "main" a new computation is desiredresponse.resp=true;return true;
}void init_marker_vals(visualization_msgs::Marker &marker) {marker.header.frame_id = "/world"; // reference frame for marker coordsmarker.header.stamp = ros::Time();marker.ns = "my_namespace";marker.id = 0;// use SPHERE if you only want a single marker// use SPHERE_LIST for a group of markersmarker.type = visualization_msgs::Marker::SPHERE_LIST; //SPHERE;marker.action = visualization_msgs::Marker::ADD;// if just using a single marker, specify the coordinates here, like this://marker.pose.position.x = 0.4;  //marker.pose.position.y = -0.4;//marker.pose.position.z = 0;//ROS_INFO("x,y,z = %f %f, %f",marker.pose.position.x,marker.pose.position.y,                       //        marker.pose.position.z);    // otherwise, for a list of markers, put their coordinates in the "points" array, as below//whether a single marker or list of markers, need to specify marker properties// these will all be the same for SPHERE_LISTmarker.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 = 0.02;marker.scale.y = 0.02;marker.scale.z = 0.02;marker.color.a = 1.0;marker.color.r = 1.0;marker.color.g = 0.0;marker.color.b = 0.0;
}int main(int argc, char **argv) {ros::init(argc, argv, "example_rviz_marker");ros::NodeHandle nh;ros::Publisher vis_pub = nh.advertise<visualization_msgs::Marker>("example_marker_topic", 0);visualization_msgs::Marker marker; // 实例化一个标记对象geometry_msgs::Point point; // 点云用来表示标记点的位置//set up a service to compute marker locations on request设置一个服务计算所请求的标记点的位置ros::ServiceServer service = nh.advertiseService("rviz_marker_svc", displaySvcCB);init_marker_vals(marker);//调用预定义函数，初始化标记点double z_des;// build a wall of markers; set range and resolution建立标记墙，设置范围和分辨率double x_min = -1.0;double x_max = 1.0;double y_min = -1.0;double y_max = 1.0;double dx_des = 0.1;double dy_des = 0.1;while (ros::ok()) {if (g_trigger) {  // did service get request for a new computation?g_trigger = false; //reset the trigger from servicez_des = g_z_height; //use z-value from service callbackROS_INFO("constructing plane of markers at height %f",z_des);marker.header.stamp = ros::Time();marker.points.clear(); // clear out this vectorfor (double x_des = x_min; x_des < x_max; x_des += dx_des) {for (double y_des = y_min; y_des < y_max; y_des += dy_des) {point.x = x_des;point.y = y_des;point.z = z_des;marker.points.push_back(point);}}}ros::Duration(0.1).sleep();//ROS_INFO("publishing...");vis_pub.publish(marker);ros::spinOnce();       }return 0;
}

节点的源代码定义了一个服务rviz_marker_svc。服务使用自定义的消息SimpleFloatSrvMsg，期望客户端提供一个单浮点数。服务可以通过以下命令手动调用：

rosservice call rviz_marker_svc 1.0

当服务被调用的时候，example_rviz_maker节点将在高度为1.0的位置计算一系列的平面点。
运行这个例子，首先启动roscore，然后输入

rosrun example_rviz_marker example_rv_marker

启动rviz

rosrun rviz rviz

选择world为固定坐标系，添加Marker组件，选择Marker Topic为/example_marker_topic，可以观察到平面标记点信息

调用服务

rosservice call rviz_marker_svc 1.0

标记点向上平移了一个单位

三维显示示例

先上triad_display.cpp代码

// triad_display.cpp
// Wyatt Newman, 8/16
// node to assist display of triads (axes) in rviz
// this node subscribes to topic "triad_display_pose", from which it receives geometry_msgs/PoseStamped poses
// it uses this info to populate and publish axes, using whatever frame_id is in the pose header
// To see the result, add a "Marker" display in rviz and subscribe to the marker topic "/triad_display"
// Can test this display node with the test node: "triad_display_test_node", which generates moving poses
// corresponding to a marker origin spiraling up in z#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
//#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <math.h>
#include <Eigen/Eigen>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Dense>
#include <tf_conversions/tf_eigen.h>//some globals...
geometry_msgs::Point vertex1;
geometry_msgs::PoseStamped g_stamped_pose;
Eigen::Affine3d g_affine_marker_pose;// create arrow markers; do this 3 times to create a triad (frame)
visualization_msgs::Marker arrow_marker_x; //this one for the x axis
visualization_msgs::Marker arrow_marker_y; //this one for the y axis
visualization_msgs::Marker arrow_marker_z; //this one for the y axis//udpdate_arrows() set the frame and void update_arrows() {geometry_msgs::Point origin, arrow_x_tip, arrow_y_tip, arrow_z_tip;Eigen::Matrix3d R;Eigen::Quaterniond quat;quat.x() = g_stamped_pose.pose.orientation.x;quat.y() = g_stamped_pose.pose.orientation.y;quat.z() = g_stamped_pose.pose.orientation.z;quat.w() = g_stamped_pose.pose.orientation.w;R = quat.toRotationMatrix();Eigen::Vector3d x_vec, y_vec, z_vec;double veclen = 0.2; //make the arrows this longx_vec = R.col(0) * veclen;y_vec = R.col(1) * veclen;z_vec = R.col(2) * veclen;//update the arrow markers w/ new pose:origin = g_stamped_pose.pose.position;arrow_x_tip = origin;arrow_x_tip.x += x_vec(0);arrow_x_tip.y += x_vec(1);arrow_x_tip.z += x_vec(2);arrow_marker_x.points.clear();arrow_marker_x.points.push_back(origin);arrow_marker_x.points.push_back(arrow_x_tip);arrow_marker_x.header = g_stamped_pose.header;arrow_y_tip = origin;arrow_y_tip.x += y_vec(0);arrow_y_tip.y += y_vec(1);arrow_y_tip.z += y_vec(2);arrow_marker_y.points.clear();arrow_marker_y.points.push_back(origin);arrow_marker_y.points.push_back(arrow_y_tip);arrow_marker_y.header = g_stamped_pose.header;arrow_z_tip = origin;arrow_z_tip.x += z_vec(0);arrow_z_tip.y += z_vec(1);arrow_z_tip.z += z_vec(2);arrow_marker_z.points.clear();arrow_marker_z.points.push_back(origin);arrow_marker_z.points.push_back(arrow_z_tip);arrow_marker_z.header = g_stamped_pose.header;
}//init persistent params of markers, then variable coords    void init_markers() {//initialize stamped pose for at a legal (if boring) poseg_stamped_pose.header.stamp = ros::Time::now();g_stamped_pose.header.frame_id = "world";g_stamped_pose.pose.position.x = 0;g_stamped_pose.pose.position.y = 0;g_stamped_pose.pose.position.z = 0;g_stamped_pose.pose.orientation.x = 0;g_stamped_pose.pose.orientation.y = 0;g_stamped_pose.pose.orientation.z = 0;g_stamped_pose.pose.orientation.w = 1;//the following parameters only need to get set oncearrow_marker_x.type = visualization_msgs::Marker::ARROW;arrow_marker_x.action = visualization_msgs::Marker::ADD; //create or modify markerarrow_marker_x.ns = "triad_namespace";arrow_marker_x.lifetime = ros::Duration(); //never delete// make the arrow thinarrow_marker_x.scale.x = 0.01;arrow_marker_x.scale.y = 0.01;arrow_marker_x.scale.z = 0.01;arrow_marker_x.color.r = 1.0; // red, for the x axisarrow_marker_x.color.g = 0.0;arrow_marker_x.color.b = 0.0;arrow_marker_x.color.a = 1.0;arrow_marker_x.id = 0;arrow_marker_x.header = g_stamped_pose.header;//y and z arrow params are the same, except for colorsarrow_marker_y = arrow_marker_x;arrow_marker_y.color.r = 0.0;arrow_marker_y.color.g = 1.0; //green for y axisarrow_marker_y.color.b = 0.0;arrow_marker_y.color.a = 1.0;arrow_marker_y.id = 1;arrow_marker_z = arrow_marker_x;arrow_marker_z.id = 2;arrow_marker_z.color.r = 0.0;arrow_marker_z.color.g = 0.0;arrow_marker_z.color.b = 1.0; //blue for z axisarrow_marker_z.color.a = 1.0;//set the poses of the arrows based on g_stamped_poseupdate_arrows();
}void poseCB(const geometry_msgs::PoseStamped &pose_msg) {ROS_DEBUG("got pose message");//ROS_INFO("got pose message");g_stamped_pose.header = pose_msg.header;g_stamped_pose.pose = pose_msg.pose;}int main(int argc, char** argv) {ros::init(argc, argv, "triad_display"); // this will be the node name;ros::NodeHandle nh;// subscribe to stamped-pose publicationsros::Subscriber pose_sub = nh.subscribe("triad_display_pose", 1, poseCB);ros::Publisher vis_pub = nh.advertise<visualization_msgs::Marker>("triad_display", 1);init_markers();ros::Rate timer(20); //timer to run at 20 Hzwhile (ros::ok()) {update_arrows();vis_pub.publish(arrow_marker_x); //publish the markerros::Duration(0.01).sleep();vis_pub.publish(arrow_marker_y); //publish the markerros::Duration(0.01).sleep();vis_pub.publish(arrow_marker_z); //publish the markerros::spinOnce(); //let callbacks perform an updatetimer.sleep();}
}

依次运行以下命令：

roscore

rosrun example_rviz_marker triad _display

rosrun rviz rviz

rosrun example_rviz_marker triad_display_test_node

可以看到一个直角坐标标记螺旋上升。

rviz中的交互式标记（interactive marker）

交互式标记的例子可以在example_interactive_marker包中找到。以下是示例代码

// IM_6DOF_example.cpp
// Wyatt Newman, based on ROS tutorial 4.2 on Interactive Markers
#include <ros/ros.h>
#include <iostream>
#include <interactive_markers/interactive_marker_server.h>
#include <geometry_msgs/Point.h>
#include <example_interactive_marker/ImNodeSvcMsg.h>const int IM_GET_CURRENT_MARKER_POSE = 0;
const int IM_SET_NEW_MARKER_POSE = 1;geometry_msgs::Point g_current_point;
geometry_msgs::Quaternion g_current_quaternion;
ros::Time g_marker_time;interactive_markers::InteractiveMarkerServer *g_IM_server; //("rt_hand_marker");
visualization_msgs::InteractiveMarkerFeedback *g_IM_feedback;//service:  return pose of marker from above globals;
// depending on mode, move IM programmatically, bool IM6DofSvcCB(example_interactive_marker::ImNodeSvcMsgRequest& request, example_interactive_marker::ImNodeSvcMsgResponse& response) {//if busy, refuse new requests;// for a simple status query, handle it now;if (request.cmd_mode == IM_GET_CURRENT_MARKER_POSE) {ROS_INFO("IM6DofSvcCB: rcvd request for query--GET_CURRENT_MARKER_POSE");response.poseStamped_IM_current.header.stamp = g_marker_time;response.poseStamped_IM_current.header.frame_id = "world";response.poseStamped_IM_current.pose.position = g_current_point;//返回位置response.poseStamped_IM_current.pose.orientation = g_current_quaternion;//返回方向return true;}//command to move the marker to specified pose:if (request.cmd_mode == IM_SET_NEW_MARKER_POSE) {geometry_msgs::PoseStamped poseStamped_IM_desired;ROS_INFO("IM6DofSvcCB: rcvd request for action--SET_NEW_MARKER_POSE");g_current_point = request.poseStamped_IM_desired.pose.position;//设置位置g_current_quaternion = request.poseStamped_IM_desired.pose.orientation;//设置当前方向g_marker_time = ros::Time::now();poseStamped_IM_desired = request.poseStamped_IM_desired;poseStamped_IM_desired.header.stamp = g_marker_time;response.poseStamped_IM_current = poseStamped_IM_desired;//g_IM_feedback->pose = poseStamped_IM_desired.pose;response.poseStamped_IM_current.header.stamp = g_marker_time;response.poseStamped_IM_current.header.frame_id = "torso";response.poseStamped_IM_current.pose.position = g_current_point;response.poseStamped_IM_current.pose.orientation = g_current_quaternion;g_IM_server->setPose("des_hand_pose", poseStamped_IM_desired.pose); //g_IM_feedback->marker_name,poseStamped_IM_desired.pose);g_IM_server->applyChanges();return true;}ROS_WARN("IM6DofSvcCB: case not recognized");return false;
}void processFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) {ROS_INFO_STREAM(feedback->marker_name << " is now at "<< feedback->pose.position.x << ", " << feedback->pose.position.y<< ", " << feedback->pose.position.z);g_current_quaternion = feedback->pose.orientation;g_current_point = feedback->pose.position;g_marker_time = ros::Time::now();
}void init_arrow_marker_x(visualization_msgs::Marker &arrow_marker_x) {geometry_msgs::Point temp_point;arrow_marker_x.type = visualization_msgs::Marker::ARROW; //ROS example was a CUBE; changed to ARROW// specify/push-in the origin point for the arrow temp_point.x = temp_point.y = temp_point.z = 0;arrow_marker_x.points.push_back(temp_point);// Specify and push in the end point for the arrow temp_point = g_current_point;temp_point.x = 0.2; // arrow is this long in x directiontemp_point.y = 0.0;temp_point.z = 0.0;arrow_marker_x.points.push_back(temp_point);// make the arrow very thinarrow_marker_x.scale.x = 0.01;arrow_marker_x.scale.y = 0.01;arrow_marker_x.scale.z = 0.01;arrow_marker_x.color.r = 1.0; // red, for the x axisarrow_marker_x.color.g = 0.0;arrow_marker_x.color.b = 0.0;arrow_marker_x.color.a = 1.0;
}void init_arrow_marker_y(visualization_msgs::Marker &arrow_marker_y) {geometry_msgs::Point temp_point;arrow_marker_y.type = visualization_msgs::Marker::ARROW;// Push in the origin point for the arrow temp_point.x = temp_point.y = temp_point.z = 0;arrow_marker_y.points.push_back(temp_point);// Push in the end point for the arrow temp_point.x = 0.0;temp_point.y = 0.2; // points in the y directiontemp_point.z = 0.0;arrow_marker_y.points.push_back(temp_point);arrow_marker_y.scale.x = 0.01;arrow_marker_y.scale.y = 0.01;arrow_marker_y.scale.z = 0.01;arrow_marker_y.color.r = 0.0;arrow_marker_y.color.g = 1.0; // color it green, for y axisarrow_marker_y.color.b = 0.0;arrow_marker_y.color.a = 1.0;
}void init_arrow_marker_z(visualization_msgs::Marker &arrow_marker_z) {geometry_msgs::Point temp_point;arrow_marker_z.type = visualization_msgs::Marker::ARROW; //CUBE;// Push in the origin point for the arrow temp_point.x = temp_point.y = temp_point.z = 0;arrow_marker_z.points.push_back(temp_point);// Push in the end point for the arrow temp_point.x = 0.0;temp_point.y = 0.0;temp_point.z = 0.2;arrow_marker_z.points.push_back(temp_point);arrow_marker_z.scale.x = 0.01;arrow_marker_z.scale.y = 0.01;arrow_marker_z.scale.z = 0.01;arrow_marker_z.color.r = 0.0;arrow_marker_z.color.g = 0.0;arrow_marker_z.color.b = 1.0;arrow_marker_z.color.a = 1.0;
}void init_translate_control_x(visualization_msgs::InteractiveMarkerControl &translate_control_x) {translate_control_x.name = "move_x";translate_control_x.interaction_mode =visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
}void init_translate_control_y(visualization_msgs::InteractiveMarkerControl &translate_control_y) {translate_control_y.name = "move_y";translate_control_y.interaction_mode =visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;translate_control_y.orientation.x = 0; //point this in the y directiontranslate_control_y.orientation.y = 0;translate_control_y.orientation.z = 1;translate_control_y.orientation.w = 1;
}void init_translate_control_z(visualization_msgs::InteractiveMarkerControl &translate_control_z) {translate_control_z.name = "move_z";translate_control_z.interaction_mode =visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;translate_control_z.orientation.x = 0; //point this in the y directiontranslate_control_z.orientation.y = 1;translate_control_z.orientation.z = 0;translate_control_z.orientation.w = 1;
}void init_rotx_control(visualization_msgs::InteractiveMarkerControl &rotx_control) {rotx_control.always_visible = true;rotx_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;rotx_control.orientation.x = 1;rotx_control.orientation.y = 0;rotx_control.orientation.z = 0;rotx_control.orientation.w = 1;rotx_control.name = "rot_x";
}void init_roty_control(visualization_msgs::InteractiveMarkerControl &roty_control) {roty_control.always_visible = true;roty_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;roty_control.orientation.x = 0;roty_control.orientation.y = 0;roty_control.orientation.z = 1;roty_control.orientation.w = 1;roty_control.name = "rot_y";
}void init_rotz_control(visualization_msgs::InteractiveMarkerControl &rotz_control) {rotz_control.always_visible = true;rotz_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;rotz_control.orientation.x = 0;rotz_control.orientation.y = 1;rotz_control.orientation.z = 0;rotz_control.orientation.w = 1;rotz_control.name = "rot_z";
}void init_IM_control(visualization_msgs::InteractiveMarkerControl &IM_control,visualization_msgs::Marker &arrow_marker_x,visualization_msgs::Marker &arrow_marker_y, visualization_msgs::Marker &arrow_marker_z) {init_arrow_marker_x(arrow_marker_x); //set up arrow params for xinit_arrow_marker_y(arrow_marker_y); //set up arrow params for yinit_arrow_marker_z(arrow_marker_z); //set up arrow params for z    IM_control.always_visible = true;IM_control.markers.push_back(arrow_marker_x);IM_control.markers.push_back(arrow_marker_y);IM_control.markers.push_back(arrow_marker_z);
}void init_int_marker(visualization_msgs::InteractiveMarker &int_marker) {int_marker.header.frame_id = "world"; //base_link"; ///world"; // the reference frame for pose coordinatesint_marker.name = "des_hand_pose"; //name the markerint_marker.description = "Interactive Marker";/** Scale Down: this makes all of the arrows/disks for the user controls smaller than the default size */int_marker.scale = 0.2;/** specify/push-in the origin for this marker *///let's pre-position the marker, else it will show up at the frame origin by defaultint_marker.pose.position.x = g_current_point.x;int_marker.pose.position.y = g_current_point.y;int_marker.pose.position.z = g_current_point.z;
}int main(int argc, char** argv) {ros::init(argc, argv, "simple_marker"); // this will be the node name;ros::NodeHandle nh; //standard ros node handle // create an interactive marker server on the topic namespace simple_markerinteractive_markers::InteractiveMarkerServer server("rt_hand_marker");g_IM_server = &server;ros::ServiceServer IM_6dof_interface_service = nh.advertiseService("IM6DofSvc", &IM6DofSvcCB);// look for resulting pose messages on the topic: /rt_hand_marker/feedback,// which publishes a message of type visualization_msgs/InteractiveMarkerFeedback, which// includes a full "pose" of the marker.// Coordinates of the pose are with respect to the named frameg_current_point.x = 0.5; //init these global valuesg_current_point.y = -0.5; //will be used in subsequent init fncsg_current_point.z = 0.2;// create an interactive marker for our servervisualization_msgs::InteractiveMarker int_marker;init_int_marker(int_marker);// arrow markers; 3 to create a triad (frame)visualization_msgs::Marker arrow_marker_x, arrow_marker_y, arrow_marker_z;// create a control that contains the markersvisualization_msgs::InteractiveMarkerControl IM_control;//initialize values for this controlinit_IM_control(IM_control, arrow_marker_x, arrow_marker_y, arrow_marker_z);// add the control to the interactive markerint_marker.controls.push_back(IM_control);// create a control that will move the marker// this control does not contain any markers,// which will cause RViz to insert two arrowsvisualization_msgs::InteractiveMarkerControl translate_control_x,translate_control_y, translate_control_z;init_translate_control_x(translate_control_x);init_translate_control_y(translate_control_y);init_translate_control_z(translate_control_z);// add x,y,and z-rotation controlsvisualization_msgs::InteractiveMarkerControl rotx_control, roty_control,rotz_control;init_rotx_control(rotx_control);init_roty_control(roty_control);init_rotz_control(rotz_control);// add the controls to the interactive markerint_marker.controls.push_back(translate_control_x);int_marker.controls.push_back(translate_control_y);int_marker.controls.push_back(translate_control_z);int_marker.controls.push_back(rotx_control);int_marker.controls.push_back(rotz_control);int_marker.controls.push_back(roty_control);// add the interactive marker to our collection &// tell the server to call processFeedback() when feedback arrives for it//server.insert(int_marker, &processFeedback);g_IM_server->insert(int_marker, &processFeedback);// 'commit' changes and send to all clients//server.applyChanges();g_IM_server->applyChanges();// start the ROS main loopROS_INFO("going into spin...");ros::spin();
}

在前期的基础上运行

rosrun example_interactive_marker exale_interactive_marker_node

然后在rviz界面添加Interactive Marker组件，

可以看到

鼠标移动标记会显示出原点位置。

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三维显示示例

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