pycram.ros_utils.marker_publisher_base

pycram.ros_utils.marker_publisher_base#

Classes#

MarkerPublisherBase

Base class for publishing visualization markers of specific data in ROS/RViz.

Module Contents#

class pycram.ros_utils.marker_publisher_base.MarkerPublisherBase#

Bases: abc.ABC

Base class for publishing visualization markers of specific data in ROS/RViz.

This class provides common utilities for creating and publishing various types of markers, such as arrows, cubes, lines, and geometry-based visualizations. Subclasses must implement the visualize method to define how their specific data is converted into Marker objects.

topic: str#

The name of the topic to publish to

property publisher: rclpy.publisher.Publisher#

Create a publisher that publishes data to topic.

returns: The created publisher.

abstract visualize(data: object) → None#

Subclasses must implement this to create and publish a MarkerArray

_create_arrow_marker(p1: geometry_msgs.msg.Point, p2: geometry_msgs.msg.Point, index: int, frame_id: str, color: List | None = (1.0, 0.0, 1.0, 1.0), scale: List | None = (0.01, 0.02, 0.02), duration: int | None = 60) → visualization_msgs.msg.Marker#

Create an arrow marker.

Parameters:

  • p1 – first point of the arrow

  • p2 – second point of the arrow

  • index – index of the created arrow

  • frame_id – frame id of the created arrow marker

  • color – color of the created arrow marker

  • scale – scale of the created arrow marker

  • duration – duration of visualizing the arrow

returns: The created arrow marker.

_create_cube_marker(box: pycram.datastructures.dataclasses.BoundingBox, index: int, duration: int | None = 60) → visualization_msgs.msg.Marker#

Create a cube marker.

Parameters:

  • box – the bounding box the cube marker should be drawn on

  • index – index of the created cube

  • duration – duration of visualizing the cube marker

returns: The created cube marker.

_create_line_marker(pose: pycram.datastructures.pose.PoseStamped, axis: List[float], color_rgba: List[float], index: int, duration: int | None = 60, length: float | None = 0.1, width: float | None = 0.02) → visualization_msgs.msg.Marker#

Create a line marker.

Parameters:

  • pose – the pose of the line

  • axis – the given axis

  • color_rgba – the color of the created line marker

  • index – id of the created line marker

  • duration – duration of visualizing the line marker

  • length – length of the axis

  • width – width of the axis

returns: The created line marker.

_create_geometry_marker(geom: pycram.datastructures.dataclasses.MeshVisualShape | pycram.datastructures.dataclasses.CylinderVisualShape | pycram.datastructures.dataclasses.BoxVisualShape | pycram.datastructures.dataclasses.SphereVisualShape, obj: semantic_digital_twin.world_description.world_entity.Body, link: str, i: int, link_pose_with_origin: pycram.datastructures.pose.TransformStamped, reference_frame: str, use_prospection_world: bool | None = False) → visualization_msgs.msg.Marker#

Creates a Marker for the given geometry type.

Parameters:

  • geom – the geometry to create the marker for

  • obj – the object to create the marker for

  • link – the link to create the marker for

  • i – the id of the created marker

  • link_pose_with_origin – the pose of the link

  • reference_frame – the reference frame of the link

  • use_prospection_world – uif prospection world is used or not

returns: the created marker.

_create_object_marker(pose: pycram.datastructures.pose.PoseStamped, name: str, path: str, current_id: int) → visualization_msgs.msg.Marker#

Create a marker for an object.

Parameters:

  • pose – the pose of the object

  • name – the name of the object

  • path – the path of the object

  • current_id – the id of the current object

returns: The created marker.

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