pycram.ros.viz_marker_publisher

Module Contents

Classes

VizMarkerPublisher

Publishes an Array of visualization marker which represent the situation in the World
class pycram.ros.viz_marker_publisher.VizMarkerPublisher(topic_name='/pycram/viz_marker', interval=0.1)

Publishes an Array of visualization marker which represent the situation in the World

The Publisher creates an Array of Visualization marker with a Marker for each link of each Object in the World. This Array is published with a rate of interval.

Parameters:

  • topic_name – The name of the topic to which the Visualization Marker should be published.

  • interval – The interval at which the visualization marker should be published, in seconds.

_publish() → None

Constantly publishes the Marker Array. To the given topic name at a fixed rate.

_make_marker_array() → visualization_msgs.msg.MarkerArray

Creates the Marker Array to be published. There is one Marker for link for each object in the Array, each Object creates a name space in the visualization Marker. The type of Visualization Marker is decided by the collision tag of the URDF.

Returns:

An Array of Visualization Marker

_stop_publishing() → None

Stops the publishing of the Visualization Marker update by setting the kill event and collecting the thread.