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Wata devel #2

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9c2b0a9
Update rspcl_marker.cpp
tasada038 Mar 11, 2023
b7f2c06
update marker
tasada038 Apr 8, 2023
1033adb
build通ります
Apr 11, 2024
aad9541
foo
Apr 11, 2024
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2 changes: 1 addition & 1 deletion src/clustering/rspcl_clustering_component.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
RspclClusteringComponent::RspclClusteringComponent() : Node("pclsub")
{
subscriber_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"/camera/pointcloud",
"/Head/D435_H/depth/color/points",
10,
std::bind(&RspclClusteringComponent::timer_callback, this, std::placeholders::_1)\
);
Expand Down
2 changes: 1 addition & 1 deletion src/filter/rspcl_filter_component.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
RspclFilterComponent::RspclFilterComponent() : Node("pclsub")
{
subscriber_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"/camera/pointcloud",
"/Head/D435_H/depth/color/points",
10,
std::bind(&RspclFilterComponent::timer_callback, this, std::placeholders::_1)\
);
Expand Down
47 changes: 40 additions & 7 deletions src/visualization_marker/rspcl_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ class PclSub : public rclcpp::Node
PclSub(): Node("pclsub")
{
sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"/camera/pointcloud",
"/Head/D435_H/depth/color/points",
10,
std::bind(&PclSub::topic_callback, this, std::placeholders::_1)\
);
Expand All @@ -53,7 +53,7 @@ class PclSub : public rclcpp::Node
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromROSMsg(*cloud_msg, *cloud);
RCLCPP_INFO(this->get_logger(), "cloud_size(%d)",cloud->points.size());
RCLCPP_INFO(this->get_logger(), "cloud_size(%ld)",cloud->points.size());
RCLCPP_INFO(this->get_logger(), "points_size(%d,%d)",cloud_msg->height,cloud_msg->width);

// define a new container for the data
Expand Down Expand Up @@ -110,7 +110,7 @@ class PclSub : public rclcpp::Node
marker.color.g = 1.0;
marker.color.b = 1.0;
marker.color.a = 1.0;
marker.lifetime = rclcpp::Duration(0.0);
// marker.lifetime = rclcpp::Duration(0.0);

// ARROW_r
visualization_msgs::msg::Marker arrow_r;
Expand All @@ -133,7 +133,7 @@ class PclSub : public rclcpp::Node
arrow_r.color.g = 0.0;
arrow_r.color.b = 0.0;
arrow_r.color.a = 1.0;
arrow_r.lifetime = rclcpp::Duration(0.0);
// arrow_r.lifetime = rclcpp::Duration(0.0);

// ARROW_g
visualization_msgs::msg::Marker arrow_g;
Expand All @@ -156,7 +156,7 @@ class PclSub : public rclcpp::Node
arrow_g.color.g = 1.0;
arrow_g.color.b = 0.0;
arrow_g.color.a = 1.0;
arrow_g.lifetime = rclcpp::Duration(0.0);
// arrow_g.lifetime = rclcpp::Duration(0.0);

// TEXT
visualization_msgs::msg::Marker text;
Expand All @@ -177,7 +177,7 @@ class PclSub : public rclcpp::Node
text.color.g = 1.0;
text.color.b = 1.0;
text.color.a = 1.0;
text.lifetime = rclcpp::Duration(0.0);
// text.lifetime = rclcpp::Duration(0.0);

// LINE STRIP
visualization_msgs::msg::Marker connection;
Expand All @@ -192,7 +192,7 @@ class PclSub : public rclcpp::Node
connection.color.g = 1.0;
connection.color.b = 0.0;
connection.color.a = 1.0;
connection.lifetime = rclcpp::Duration(0.0);
// connection.lifetime = rclcpp::Duration(0.0);
start_line.x = geometry_points[i].x;
start_line.y = geometry_points[i].y;
start_line.z = geometry_points[i].z;
Expand All @@ -209,6 +209,39 @@ class PclSub : public rclcpp::Node
// markers.markers.push_back(connection);
}

geometry_msgs::msg::Point point_1;
geometry_msgs::msg::Point point_2;
geometry_msgs::msg::Point point_3;
for(int i=0; i<1; i++){
visualization_msgs::msg::Marker triangle;
triangle.header.frame_id = "camera_color_optical_frame";
triangle.header.stamp = this->now();
triangle.ns = "triangle_list";
triangle.id = i;
triangle.type = visualization_msgs::msg::Marker::TRIANGLE_LIST;
triangle.action = visualization_msgs::msg::Marker::MODIFY;
triangle.scale.x = triangle.scale.y = triangle.scale.z = 1;
triangle.color.r = 0.0;
triangle.color.g = 1.0;
triangle.color.b = 0.0;
triangle.color.a = 1.0;
// triangle.lifetime = rclcpp::Duration(0.0);

point_1.x = geometry_points[i].x;
point_1.y = geometry_points[i].y;
point_1.z = geometry_points[i].z;
point_2.x = geometry_points[i+30].x;
point_2.y = geometry_points[i+30].y;
point_2.z = geometry_points[i+30].z;
point_3.x = geometry_points[i+31].x;
point_3.y = geometry_points[i+31].y;
point_3.z = geometry_points[i+31].z;
triangle.points.push_back(point_1);
triangle.points.push_back(point_2);
triangle.points.push_back(point_3);
markers.markers.push_back(triangle);
}

publisher_m->publish(markers);

sensor_msgs::msg::PointCloud2 sensor_msg;
Expand Down