visualization_msgs¶

Message types¶

• visualization_msgs/MenuEntry
• visualization_msgs/MarkerArray
• visualization_msgs/InteractiveMarkerFeedback
• visualization_msgs/Marker
• visualization_msgs/InteractiveMarkerPose
• visualization_msgs/InteractiveMarkerUpdate
• visualization_msgs/InteractiveMarker
• visualization_msgs/ImageMarker
• visualization_msgs/InteractiveMarkerInit
• visualization_msgs/InteractiveMarkerControl

visualization_msgs/MenuEntry¶

Field:	id (uint32) – parent_id (uint32) – title (string) – command (string) – command_type (uint8) –
Constant:	FEEDBACK (uint8):0 – ROSRUN (uint8):1 – ROSLAUNCH (uint8):2 –

MenuEntry message.

Each InteractiveMarker message has an array of MenuEntry messages. A collection of MenuEntries together describe a menu/submenu/subsubmenu/etc tree, though they are stored in a flat array. The tree structure is represented by giving each menu entry an ID number and a “parent_id” field. Top-level entries are the ones with parent_id = 0. Menu entries are ordered within their level the same way they are ordered in the containing array. Parent entries must appear before their children.

Example: - id = 3

parent_id = 0 title = “fun”

• id = 2 parent_id = 0 title = “robot”
• id = 4 parent_id = 2 title = “pr2”
• id = 5 parent_id = 2 title = “turtle”

Gives a menu tree like this:

• fun
• robot - pr2 - turtle

ID is a number for each menu entry. Must be unique within the control, and should never be 0.

# MenuEntry message.

# Each InteractiveMarker message has an array of MenuEntry messages.
# A collection of MenuEntries together describe a
# menu/submenu/subsubmenu/etc tree, though they are stored in a flat
# array.  The tree structure is represented by giving each menu entry
# an ID number and a "parent_id" field.  Top-level entries are the
# ones with parent_id = 0.  Menu entries are ordered within their
# level the same way they are ordered in the containing array.  Parent
# entries must appear before their children.

# Example:
# - id = 3
#   parent_id = 0
#   title = "fun"
# - id = 2
#   parent_id = 0
#   title = "robot"
# - id = 4
#   parent_id = 2
#   title = "pr2"
# - id = 5
#   parent_id = 2
#   title = "turtle"
#
# Gives a menu tree like this:
#  - fun
#  - robot
#    - pr2
#    - turtle

# ID is a number for each menu entry.  Must be unique within the
# control, and should never be 0.
uint32 id

# ID of the parent of this menu entry, if it is a submenu.  If this
# menu entry is a top-level entry, set parent_id to 0.
uint32 parent_id

# menu / entry title
string title

# Arguments to command indicated by command_type (below)
string command

# Command_type stores the type of response desired when this menu
# entry is clicked.
# FEEDBACK: send an InteractiveMarkerFeedback message with menu_entry_id set to this entry's id.
# ROSRUN: execute "rosrun" with arguments given in the command field (above).
# ROSLAUNCH: execute "roslaunch" with arguments given in the command field (above).
uint8 FEEDBACK=0
uint8 ROSRUN=1
uint8 ROSLAUNCH=2
uint8 command_type

visualization_msgs/MarkerArray¶

Field:	markers[] (visualization_msgs/Marker) –

Marker[] markers

visualization_msgs/InteractiveMarkerFeedback¶

Field:	header (std_msgs/Header) – client_id (string) – marker_name (string) – control_name (string) – event_type (uint8) – pose (geometry_msgs/Pose) – menu_entry_id (uint32) – mouse_point (geometry_msgs/Point) – mouse_point_valid (bool) –
Constant:	KEEP_ALIVE (uint8):0 – POSE_UPDATE (uint8):1 – MENU_SELECT (uint8):2 – BUTTON_CLICK (uint8):3 – MOUSE_DOWN (uint8):4 – MOUSE_UP (uint8):5 –

Time/frame info.

# Time/frame info.
Header header

# Identifying string. Must be unique in the topic namespace.
string client_id

# Feedback message sent back from the GUI, e.g.
# when the status of an interactive marker was modified by the user.

# Specifies which interactive marker and control this message refers to
string marker_name
string control_name

# Type of the event
# KEEP_ALIVE: sent while dragging to keep up control of the marker
# MENU_SELECT: a menu entry has been selected
# BUTTON_CLICK: a button control has been clicked
# POSE_UPDATE: the pose has been changed using one of the controls
uint8 KEEP_ALIVE = 0
uint8 POSE_UPDATE = 1
uint8 MENU_SELECT = 2
uint8 BUTTON_CLICK = 3

uint8 MOUSE_DOWN = 4
uint8 MOUSE_UP = 5

uint8 event_type

# Current pose of the marker
# Note: Has to be valid for all feedback types.
geometry_msgs/Pose pose

# Contains the ID of the selected menu entry
# Only valid for MENU_SELECT events.
uint32 menu_entry_id

# If event_type is BUTTON_CLICK, MOUSE_DOWN, or MOUSE_UP, mouse_point
# may contain the 3 dimensional position of the event on the
# control.  If it does, mouse_point_valid will be true.  mouse_point
# will be relative to the frame listed in the header.
geometry_msgs/Point mouse_point
bool mouse_point_valid

visualization_msgs/Marker¶

Constant:	ARROW (uint8):0 – CUBE (uint8):1 – SPHERE (uint8):2 – CYLINDER (uint8):3 – LINE_STRIP (uint8):4 – LINE_LIST (uint8):5 – CUBE_LIST (uint8):6 – SPHERE_LIST (uint8):7 – POINTS (uint8):8 – TEXT_VIEW_FACING (uint8):9 – MESH_RESOURCE (uint8):10 – TRIANGLE_LIST (uint8):11 – ADD (uint8):0 – MODIFY (uint8):0 – DELETE (uint8):2 – DELETEALL (uint8):3 –
Field:	header (std_msgs/Header) – ns (string) – id (int32) – type (int32) – action (int32) – pose (geometry_msgs/Pose) – scale (geometry_msgs/Vector3) – color (std_msgs/ColorRGBA) – lifetime (duration) – frame_locked (bool) – points[] (geometry_msgs/Point) – colors[] (std_msgs/ColorRGBA) – text (string) – mesh_resource (string) – mesh_use_embedded_materials (bool) –

See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11

uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2
uint8 DELETEALL=3

Header header                        # header for time/frame information
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object
int32 id 		                         # object ID useful in conjunction with the namespace for manipulating and deleting the object later
int32 type 		                       # Type of object
int32 action 	                       # 0 add/modify an object, 1 (deprecated), 2 deletes an object, 3 deletes all objects
geometry_msgs/Pose pose                 # Pose of the object
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color             # Color [0.0-1.0]
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
#number of colors must either be 0 or equal to the number of points
#NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials

visualization_msgs/InteractiveMarkerPose¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – name (string) –

Time/frame info.

# Time/frame info.
Header header

# Initial pose. Also, defines the pivot point for rotations.
geometry_msgs/Pose pose

# Identifying string. Must be globally unique in
# the topic that this message is sent through.
string name

visualization_msgs/InteractiveMarkerUpdate¶

Field:	server_id (string) – seq_num (uint64) – type (uint8) – markers[] (visualization_msgs/InteractiveMarker) – poses[] (visualization_msgs/InteractiveMarkerPose) – erases[] (string) –
Constant:	KEEP_ALIVE (uint8):0 – UPDATE (uint8):1 –

Identifying string. Must be unique in the topic namespace that this server works on.

# Identifying string. Must be unique in the topic namespace
# that this server works on.
string server_id

# Sequence number.
# The client will use this to detect if it has missed an update.
uint64 seq_num

# Type holds the purpose of this message.  It must be one of UPDATE or KEEP_ALIVE.
# UPDATE: Incremental update to previous state. 
#         The sequence number must be 1 higher than for
#         the previous update.
# KEEP_ALIVE: Indicates the that the server is still living.
#             The sequence number does not increase.
#             No payload data should be filled out (markers, poses, or erases).
uint8 KEEP_ALIVE = 0
uint8 UPDATE = 1

uint8 type

#Note: No guarantees on the order of processing.
#      Contents must be kept consistent by sender.

#Markers to be added or updated
InteractiveMarker[] markers

#Poses of markers that should be moved
InteractiveMarkerPose[] poses

#Names of markers to be erased
string[] erases

visualization_msgs/InteractiveMarker¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – name (string) – description (string) – scale (float32) – menu_entries[] (visualization_msgs/MenuEntry) – controls[] (visualization_msgs/InteractiveMarkerControl) –

Time/frame info. If header.time is set to 0, the marker will be retransformed into its frame on each timestep. You will receive the pose feedback in the same frame. Otherwise, you might receive feedback in a different frame. For rviz, this will be the current ‘fixed frame’ set by the user.

# Time/frame info.
# If header.time is set to 0, the marker will be retransformed into
# its frame on each timestep. You will receive the pose feedback
# in the same frame.
# Otherwise, you might receive feedback in a different frame.
# For rviz, this will be the current 'fixed frame' set by the user.
Header header

# Initial pose. Also, defines the pivot point for rotations.
geometry_msgs/Pose pose

# Identifying string. Must be globally unique in
# the topic that this message is sent through.
string name

# Short description (< 40 characters).
string description

# Scale to be used for default controls (default=1).
float32 scale

# All menu and submenu entries associated with this marker.
MenuEntry[] menu_entries

# List of controls displayed for this marker.
InteractiveMarkerControl[] controls

visualization_msgs/ImageMarker¶

Constant:	CIRCLE (uint8):0 – LINE_STRIP (uint8):1 – LINE_LIST (uint8):2 – POLYGON (uint8):3 – POINTS (uint8):4 – ADD (uint8):0 – REMOVE (uint8):1 –
Field:	header (std_msgs/Header) – ns (string) – id (int32) – type (int32) – action (int32) – position (geometry_msgs/Point) – scale (float32) – outline_color (std_msgs/ColorRGBA) – filled (uint8) – fill_color (std_msgs/ColorRGBA) – lifetime (duration) – points[] (geometry_msgs/Point) – outline_colors[] (std_msgs/ColorRGBA) –

uint8 CIRCLE=0
uint8 LINE_STRIP=1
uint8 LINE_LIST=2
uint8 POLYGON=3
uint8 POINTS=4

uint8 ADD=0
uint8 REMOVE=1

Header header
string ns		# namespace, used with id to form a unique id
int32 id          	# unique id within the namespace
int32 type        	# CIRCLE/LINE_STRIP/etc.
int32 action      	# ADD/REMOVE
geometry_msgs/Point position # 2D, in pixel-coords
float32 scale	 	# the diameter for a circle, etc.
std_msgs/ColorRGBA outline_color
uint8 filled		# whether to fill in the shape with color
std_msgs/ColorRGBA fill_color # color [0.0-1.0]
duration lifetime       # How long the object should last before being automatically deleted.  0 means forever


geometry_msgs/Point[] points # used for LINE_STRIP/LINE_LIST/POINTS/etc., 2D in pixel coords
std_msgs/ColorRGBA[] outline_colors # a color for each line, point, etc.

visualization_msgs/InteractiveMarkerInit¶

Field:	server_id (string) – seq_num (uint64) – markers[] (visualization_msgs/InteractiveMarker) –

Identifying string. Must be unique in the topic namespace that this server works on.

# Identifying string. Must be unique in the topic namespace
# that this server works on.
string server_id

# Sequence number.
# The client will use this to detect if it has missed a subsequent
# update.  Every update message will have the same sequence number as
# an init message.  Clients will likely want to unsubscribe from the
# init topic after a successful initialization to avoid receiving
# duplicate data.
uint64 seq_num

# All markers.
InteractiveMarker[] markers

visualization_msgs/InteractiveMarkerControl¶

Field:	name (string) – orientation (geometry_msgs/Quaternion) – orientation_mode (uint8) – interaction_mode (uint8) – always_visible (bool) – markers[] (visualization_msgs/Marker) – independent_marker_orientation (bool) – description (string) –
Constant:	INHERIT (uint8):0 – FIXED (uint8):1 – VIEW_FACING (uint8):2 – NONE (uint8):0 – MENU (uint8):1 – BUTTON (uint8):2 – MOVE_AXIS (uint8):3 – MOVE_PLANE (uint8):4 – ROTATE_AXIS (uint8):5 – MOVE_ROTATE (uint8):6 – MOVE_3D (uint8):7 – ROTATE_3D (uint8):8 – MOVE_ROTATE_3D (uint8):9 –

Represents a control that is to be displayed together with an interactive marker

Identifying string for this control. You need to assign a unique value to this to receive feedback from the GUI on what actions the user performs on this control (e.g. a button click).

# Represents a control that is to be displayed together with an interactive marker

# Identifying string for this control.
# You need to assign a unique value to this to receive feedback from the GUI
# on what actions the user performs on this control (e.g. a button click).
string name


# Defines the local coordinate frame (relative to the pose of the parent
# interactive marker) in which is being rotated and translated.
# Default: Identity
geometry_msgs/Quaternion orientation


# Orientation mode: controls how orientation changes.
# INHERIT: Follow orientation of interactive marker
# FIXED: Keep orientation fixed at initial state
# VIEW_FACING: Align y-z plane with screen (x: forward, y:left, z:up).
uint8 INHERIT = 0 
uint8 FIXED = 1
uint8 VIEW_FACING = 2

uint8 orientation_mode

# Interaction mode for this control
# 
# NONE: This control is only meant for visualization; no context menu.
# MENU: Like NONE, but right-click menu is active.
# BUTTON: Element can be left-clicked.
# MOVE_AXIS: Translate along local x-axis.
# MOVE_PLANE: Translate in local y-z plane.
# ROTATE_AXIS: Rotate around local x-axis.
# MOVE_ROTATE: Combines MOVE_PLANE and ROTATE_AXIS.
uint8 NONE = 0 
uint8 MENU = 1
uint8 BUTTON = 2
uint8 MOVE_AXIS = 3 
uint8 MOVE_PLANE = 4
uint8 ROTATE_AXIS = 5
uint8 MOVE_ROTATE = 6
# "3D" interaction modes work with the mouse+SHIFT+CTRL or with 3D cursors.
# MOVE_3D: Translate freely in 3D space.
# ROTATE_3D: Rotate freely in 3D space about the origin of parent frame.
# MOVE_ROTATE_3D: Full 6-DOF freedom of translation and rotation about the cursor origin.
uint8 MOVE_3D = 7
uint8 ROTATE_3D = 8
uint8 MOVE_ROTATE_3D = 9

uint8 interaction_mode


# If true, the contained markers will also be visible
# when the gui is not in interactive mode.
bool always_visible


# Markers to be displayed as custom visual representation.
# Leave this empty to use the default control handles.
#
# Note: 
# - The markers can be defined in an arbitrary coordinate frame,
#   but will be transformed into the local frame of the interactive marker.
# - If the header of a marker is empty, its pose will be interpreted as 
#   relative to the pose of the parent interactive marker.
Marker[] markers


# In VIEW_FACING mode, set this to true if you don't want the markers
# to be aligned with the camera view point. The markers will show up
# as in INHERIT mode.
bool independent_marker_orientation


# Short description (< 40 characters) of what this control does,
# e.g. "Move the robot". 
# Default: A generic description based on the interaction mode
string description