Only released in EOL distros:
Package Summary
The interaction_cursor_rviz package
- Maintainer: Adam Leeper <adamleeper AT gmail DOT com>
- Author: Adam Leeper <adamleeper AT gmail DOT com>
- License: BSD
Package Summary
An Rviz plugin that implements the interaction_cursor_msgs API to interact with interactive_markers.
- Maintainer: Adam Leeper <adamleeper AT gmail DOT com>
- Author: Adam Leeper <adamleeper AT gmail DOT com>
- License: BSD
Package Summary
An Rviz plugin that implements the interaction_cursor_msgs API to interact with interactive_markers.
- Maintainer status: developed
- Maintainer: Adam Leeper <adamleeper AT gmail DOT com>
- Author: Adam Leeper <adamleeper AT gmail DOT com>
- License: BSD
Contents
3D Interaction Cursor plugin for Rviz
This plugin allows you to control a 3D cursor in Rviz. The cursor is able to grab interactive markers and move them in much the same way as you would with the mouse.
How to Use Interactive Markers with 3D cursor
The 3D cursor emulates the behavior of a 2D mouse for the original interactive marker types:
- MENU/BUTTON: These act in the normal way.
- MOVE_AXIS: Translates along specified axis only (same as mouse).
- MOVE_PLANE: Translates perpendicular to specified axis only (same as mouse).
- ROTATE_AXIS: Rotates about specified axis (same as mouse).
- MOVE_ROTATE: Translates perpendicular to, and rotates about, specified axis only (same as mouse).
In addition, the 3D cursor supports the following interactive marker types:
- MOVE_3D: Free 3-DOF translation, with no rotation.
- ROTATE_3D: Free 3-DOF rotation, with no translation.
- MOVE_ROTATE_3D: Full 6-DOF translation and rotation. The 3D cursor and the grasped marker move as a single rigid body, maintaining the original transform between the two, until released.
How to Run / Test
Install the following debs:
sudo apt-get install ros-groovy-rviz-animated-view-controller
Add the following repositories to your catkin workspace:
- git: {local-name: ros_3d_interaction_cursor, uri: 'https://github.com/aleeper/ros_3d_interaction_cursor.git'}
- git: {local-name: razer_hydra, uri: 'https://github.com/aleeper/razer_hydra.git'}
- git: {local-name: interactive_markers, uri: 'https://github.com/ros-visualization/interactive_markers.git'}
- git: {local-name: rviz, uri: 'https://github.com/ros-visualization/rviz.git'}You may also need https://github.com/ros-visualization/visualization_tutorials, which unfortunately must go in a rosbuild workspace.
Build your catkin workspace, and build interactive_marker_tutorials.
If you haven't configured udev rules for the hydra before, do:
roscd razer_hydra ./configure_udev_rules
and then plug your hydra in.
Then run:
roslaunch interaction_cursor_demo demo.launch
You can add the option start_hydra:=false, or change the radius of the hydra workspace with radius:=<a number>.
Controls
Using the "right" hydra controller, the buttons are:
rb - "grab" and move the workspace
rt - grab interactive marker controls
joystick click - bring up interactive marker menus
joystick directions - navigate interactive marker menus
3 - Select the currently highlighted menu entry
1 - Close the interactive marker menu
The "left" controller also works, but it is not able to grab and move the workspace.
Support
Please send bug reports, feature requests, etc. to the GitHub Issue Tracker.