jsk_interactive_marker¶

Message types¶

• jsk_interactive_marker/JointTrajectoryWithType
• jsk_interactive_marker/MoveObject
• jsk_interactive_marker/PoseStampedWithName
• jsk_interactive_marker/JointTrajectoryPointWithType
• jsk_interactive_marker/SnapFootPrintInput
• jsk_interactive_marker/MarkerPose
• jsk_interactive_marker/MoveModel
• jsk_interactive_marker/MarkerMenu
• jsk_interactive_marker/MarkerDimensions

jsk_interactive_marker/JointTrajectoryWithType¶

Field:	header (std_msgs/Header) – joint_names[] (string) – points[] (jsk_interactive_marker/JointTrajectoryPointWithType) –

std_msgs/Header header
string[] joint_names
jsk_interactive_marker/JointTrajectoryPointWithType[] points

jsk_interactive_marker/MoveObject¶

Field:	origin (geometry_msgs/PoseStamped) – goal (geometry_msgs/PoseStamped) – graspPose (geometry_msgs/Pose) –

geometry_msgs/PoseStamped origin
geometry_msgs/PoseStamped goal
geometry_msgs/Pose graspPose

jsk_interactive_marker/PoseStampedWithName¶

Field:	name (string) – pose (geometry_msgs/PoseStamped) –

string name
geometry_msgs/PoseStamped pose

jsk_interactive_marker/JointTrajectoryPointWithType¶

Constant:	JOINT_INTERPOLATION (uint8):0 – LINEAR_INTERPOLATION (uint8):1 – COLLISION_AVOIDANCE (uint8):2 – CLOSE_HAND (uint8):10 – OPEN_HAND (uint8):11 –
Field:	type (int8) – args (string) – wait (bool) – positions[] (float64) – velocities[] (float64) – accelerations[] (float64) – effort[] (float64) – time_from_start (duration) –

uint8 JOINT_INTERPOLATION=0
uint8 LINEAR_INTERPOLATION=1
uint8 COLLISION_AVOIDANCE=2

uint8 CLOSE_HAND=10
uint8 OPEN_HAND=11

int8 type
string args
bool wait

float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start

jsk_interactive_marker/SnapFootPrintInput¶

Field:	input_pose (geometry_msgs/PoseStamped) – lleg_pose (geometry_msgs/Pose) – rleg_pose (geometry_msgs/Pose) –

geometry_msgs/PoseStamped input_pose
geometry_msgs/Pose lleg_pose
geometry_msgs/Pose rleg_pose

jsk_interactive_marker/MarkerPose¶

Constant:	GENERAL (uint8):0 – HEAD_MARKER (uint8):1 – RHAND_MARKER (uint8):2 – LHAND_MARKER (uint8):3 – RLEG_MARKER (uint8):4 – LLEG_MARKER (uint8):5 – BASE_MARKER (uint8):6 – RFINGER_MARKER (uint8):7 – LFINGER_MARKER (uint8):8 – SPHERE_MARKER (uint8):9 –
Field:	type (int8) – pose (geometry_msgs/PoseStamped) – marker_name (string) –

uint8 GENERAL=0
uint8 HEAD_MARKER=1
uint8 RHAND_MARKER=2
uint8 LHAND_MARKER=3
uint8 RLEG_MARKER=4
uint8 LLEG_MARKER=5
uint8 BASE_MARKER=6
uint8 RFINGER_MARKER=7
uint8 LFINGER_MARKER=8
uint8 SPHERE_MARKER=9

int8 type
geometry_msgs/PoseStamped pose
string marker_name

jsk_interactive_marker/MoveModel¶

Field:	header (std_msgs/Header) – name (string) – description (string) – joint_state_origin (sensor_msgs/JointState) – joint_state_goal (sensor_msgs/JointState) – pose_origin (geometry_msgs/PoseStamped) – pose_goal (geometry_msgs/PoseStamped) –

std_msgs/Header header
string name
string description
sensor_msgs/JointState joint_state_origin
sensor_msgs/JointState joint_state_goal
geometry_msgs/PoseStamped pose_origin
geometry_msgs/PoseStamped pose_goal

jsk_interactive_marker/MarkerMenu¶

Constant:

MOVE (uint8):0 – FORCE_MOVE (uint8):1 – SET_ORIGIN (uint8):2 – SET_ORIGIN_RHAND (uint8):3 – SET_ORIGIN_LHAND (uint8):4 – RESET_COORDS (uint8):5 – DELETE_FORCE (uint8):6 – PUBLISH_MARKER (uint8):7 – JOINT_MOVE (uint8):8 – RESET_JOINT (uint8):9 – SET_MOVE_RARM (uint8):10 – SET_MOVE_LARM (uint8):11 – SET_MOVE_ARMS (uint8):12 – MOVE_CONSTRAINT_T (uint8):13 – MOVE_CONSTRAINT_NIL (uint8):14 – IK_ROTATION_AXIS_T (uint8):15 – IK_ROTATION_AXIS_NIL (uint8):16 – USE_TORSO_T (uint8):17 – USE_TORSO_NIL (uint8):18 – USE_FULLBODY (int8):19 – START_GRASP (uint8):20 – HARF_GRASP (uint8):21 – STOP_GRASP (uint8):22 – HEAD_TARGET_POINT (uint8):30 – LOOK_AUTO (uint8):31 – MANIP_MODE (uint8):40 – PICK (uint8):41 – TOUCHIT_EXEC (uint8):42 – TOUCHIT_PREV (uint8):43 – TOUCHIT_CANCEL (uint8):44 – LOOK_RARM (uint8):45 – LOOK_LARM (uint8):46 – PLAN (uint8):50 – EXECUTE (uint8):51 – PLAN_EXECUTE (uint8):52 – CANCEL_PLAN (uint8):53 – GENERAL (uint8):0 – HEAD_MARKER (uint8):1 – RHAND_MARKER (uint8):2 – LHAND_MARKER (uint8):3 – RLEG_MARKER (uint8):4 – LLEG_MARKER (uint8):5 – BASE_MARKER (uint8):6 – RFINGER_MARKER (uint8):7 – LFINGER_MARKER (uint8):8 –

Field:

menu (int8) – type (int8) – marker_name (string) –

uint8 MOVE=0
uint8 FORCE_MOVE=1
uint8 SET_ORIGIN=2
uint8 SET_ORIGIN_RHAND=3
uint8 SET_ORIGIN_LHAND=4
uint8 RESET_COORDS=5
uint8 DELETE_FORCE=6
uint8 PUBLISH_MARKER=7
uint8 JOINT_MOVE=8
uint8 RESET_JOINT=9

uint8 SET_MOVE_RARM=10
uint8 SET_MOVE_LARM=11
uint8 SET_MOVE_ARMS=12
uint8 MOVE_CONSTRAINT_T=13
uint8 MOVE_CONSTRAINT_NIL=14
uint8 IK_ROTATION_AXIS_T=15
uint8 IK_ROTATION_AXIS_NIL=16
uint8 USE_TORSO_T=17
uint8 USE_TORSO_NIL=18
int8 USE_FULLBODY=19


uint8 START_GRASP=20
uint8 HARF_GRASP=21
uint8 STOP_GRASP=22

uint8 HEAD_TARGET_POINT=30
uint8 LOOK_AUTO=31

uint8 MANIP_MODE=40
uint8 PICK=41
uint8 TOUCHIT_EXEC=42
uint8 TOUCHIT_PREV=43
uint8 TOUCHIT_CANCEL=44

uint8 LOOK_RARM=45
uint8 LOOK_LARM=46

uint8 PLAN=50
uint8 EXECUTE=51
uint8 PLAN_EXECUTE=52
uint8 CANCEL_PLAN=53

uint8 GENERAL=0
uint8 HEAD_MARKER=1
uint8 RHAND_MARKER=2
uint8 LHAND_MARKER=3
uint8 RLEG_MARKER=4
uint8 LLEG_MARKER=5
uint8 BASE_MARKER=6
uint8 RFINGER_MARKER=7
uint8 LFINGER_MARKER=8

int8 menu
int8 type
string marker_name

jsk_interactive_marker/MarkerDimensions¶

Field:	x (float32) – y (float32) – z (float32) – radius (float32) – small_radius (float32) – type (int32) –

float32 x
float32 y
float32 z
float32 radius
float32 small_radius
int32 type

Service types¶

• jsk_interactive_marker/GetTransformableMarkerExistence
• jsk_interactive_marker/GetTransformableMarkerPose
• jsk_interactive_marker/SetTransformableMarkerFocus
• jsk_interactive_marker/SetParentMarker
• jsk_interactive_marker/SetTransformableMarkerColor
• jsk_interactive_marker/SetPose
• jsk_interactive_marker/GetType
• jsk_interactive_marker/GetTransformableMarkerColor
• jsk_interactive_marker/SetHeuristic
• jsk_interactive_marker/GetJointState
• jsk_interactive_marker/RemoveParentMarker
• jsk_interactive_marker/GetTransformableMarkerFocus
• jsk_interactive_marker/GetMarkerDimensions
• jsk_interactive_marker/IndexRequest
• jsk_interactive_marker/SetTransformableMarkerPose
• jsk_interactive_marker/SnapFootPrint
• jsk_interactive_marker/SetMarkerDimensions
• jsk_interactive_marker/MarkerSetPose

jsk_interactive_marker/GetTransformableMarkerExistence¶

Field (Request):
	target_name (string) –
Field (Response):
	existence (bool) –

string target_name
---
bool existence

jsk_interactive_marker/GetTransformableMarkerPose¶

Field (Request):
	target_name (string) –
Field (Response):
	pose_stamped (geometry_msgs/PoseStamped) –

string target_name
---
geometry_msgs/PoseStamped pose_stamped

jsk_interactive_marker/SetTransformableMarkerFocus¶

Field (Request):
	target_name (string) –

string target_name
---

jsk_interactive_marker/SetParentMarker¶

Field (Request):
	parent_topic_name (string) – parent_marker_name (string) – child_marker_name (string) –

string parent_topic_name
string parent_marker_name 
string child_marker_name
---

jsk_interactive_marker/SetTransformableMarkerColor¶

Field (Request):
	target_name (string) – color (std_msgs/ColorRGBA) –

string target_name
std_msgs/ColorRGBA color
---

jsk_interactive_marker/SetPose¶

Field (Request):
	pose (geometry_msgs/PoseStamped) – markers[] (visualization_msgs/Marker) –
Field (Response):
	pose (geometry_msgs/PoseStamped) –

geometry_msgs/PoseStamped pose
visualization_msgs/Marker[] markers
---
geometry_msgs/PoseStamped pose

jsk_interactive_marker/GetType¶

Field (Request):
	target_name (string) –
Field (Response):
	type (int32) –

string target_name
---
int32 type

jsk_interactive_marker/GetTransformableMarkerColor¶

Field (Request):
	target_name (string) –
Field (Response):
	color (std_msgs/ColorRGBA) –

string target_name
---
std_msgs/ColorRGBA color

jsk_interactive_marker/SetHeuristic¶

Field (Request):
	heuristic (string) –

string heuristic
---

jsk_interactive_marker/GetJointState¶

Field (Response):
	joint_state (sensor_msgs/JointState) –

---
sensor_msgs/JointState joint_state

jsk_interactive_marker/RemoveParentMarker¶

Field (Request):
	child_marker_name (string) –

string child_marker_name
---

jsk_interactive_marker/GetTransformableMarkerFocus¶

Field (Response):
	target_name (string) –

---
string target_name

jsk_interactive_marker/GetMarkerDimensions¶

Field (Request):
	target_name (string) –
Field (Response):
	dimensions (jsk_interactive_marker/MarkerDimensions) –

string target_name
---
MarkerDimensions dimensions

jsk_interactive_marker/IndexRequest¶

Field (Request):
	index (jsk_recognition_msgs/Int32Stamped) –

jsk_recognition_msgs/Int32Stamped index
---

jsk_interactive_marker/SetTransformableMarkerPose¶

Field (Request):
	target_name (string) – pose_stamped (geometry_msgs/PoseStamped) –

string target_name
geometry_msgs/PoseStamped pose_stamped
---

jsk_interactive_marker/SnapFootPrint¶

Field (Request):
	input_pose (geometry_msgs/PoseStamped) – lleg_pose (geometry_msgs/Pose) – rleg_pose (geometry_msgs/Pose) –
Field (Response):
	success (bool) – snapped_pose (geometry_msgs/PoseStamped) –

geometry_msgs/PoseStamped input_pose
geometry_msgs/Pose lleg_pose
geometry_msgs/Pose rleg_pose
---
bool success
geometry_msgs/PoseStamped snapped_pose

jsk_interactive_marker/SetMarkerDimensions¶

Field (Request):
	target_name (string) – dimensions (jsk_interactive_marker/MarkerDimensions) –

string target_name
MarkerDimensions dimensions
---

jsk_interactive_marker/MarkerSetPose¶

Field (Request):
	marker_name (string) – pose (geometry_msgs/PoseStamped) – markers[] (visualization_msgs/Marker) –
Field (Response):
	pose (geometry_msgs/PoseStamped) –

string marker_name
geometry_msgs/PoseStamped pose
visualization_msgs/Marker[] markers
---
geometry_msgs/PoseStamped pose