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Forward port of #1132 for kinetic (same issue #1120 occurs in kinetic) #1134

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Forward port of #1132 for kinetic (same issue #1120 occurs in kinetic) #1134

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3 changes: 1 addition & 2 deletions src/rviz/default_plugin/markers/mesh_resource_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,8 +192,7 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
entity_->setMaterial(default_material);
}



update_color = true;

handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
Expand Down
179 changes: 142 additions & 37 deletions src/test/mesh_marker_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,16 +8,54 @@

ros::Publisher g_marker_pub;

void publishMesh( int id, float x, float y, float r, float g, float b, float a, bool use_embedded_materials, bool mesh )
void
publishText(int id, float x, float y, const std::string & text)
{
visualization_msgs::Marker marker;
marker.header.frame_id = "/base_link";
marker.header.stamp = ros::Time::now();
marker.ns = "mesh";
marker.type = mesh ? (int) visualization_msgs::Marker::MESH_RESOURCE : (int) visualization_msgs::Marker::SPHERE;
marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::Marker::ADD;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
marker.color.r = 1;
marker.color.g = 1;
marker.color.b = 1;
marker.color.a = 1;
marker.scale.x = 0.2;
marker.scale.y = 0.2;
marker.scale.z = 0.2;
marker.text = text;
marker.id = id;
marker.pose.position.x = x;
marker.pose.position.y = y;

g_marker_pub.publish(marker);
}

void
publishMesh(
int id, float x, float y,
float r, float g, float b, float a,
bool use_embedded_materials, bool mesh)
{
using visualization_msgs::Marker;

Marker marker;
marker.header.frame_id = "/base_link";
marker.header.stamp = ros::Time::now();
marker.ns = "mesh";
if (mesh) {
marker.type = Marker::MESH_RESOURCE;
} else {
marker.type = Marker::SPHERE;
}
marker.action = Marker::ADD;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.1;
marker.pose.orientation.w = 1.0;
marker.scale.x = 1;
Expand All @@ -37,94 +75,161 @@ void publishMesh( int id, float x, float y, float r, float g, float b, float a,
g_marker_pub.publish(marker);
}

void publishCallback(const ros::TimerEvent&)
void
publishMeshes()
{
static uint32_t counter = 0;

ROS_INFO("Publishing");

int id = 0;
float x = 0;
float y = 0;

publishMesh( id, x, y, 1, 1, 1, 1, true, true);
publishText(id, x - 1, y, "mesh, use_embedded_materials = true");
id++;
publishText(id, x, y - 1, "rbg: 0.0 0.0 0.0, a: 0");
id++;
publishMesh(id, x, y, 0, 0, 0, 0, true, true);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, .5, true, true);
publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 1");
id++;
publishMesh(id, x, y, 1, 1, 1, 1, true, true);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, 0, true, true);
publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 0.5");
id++;
publishMesh(id, x, y, 1, 1, 1, .5, true, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 1, true, true);
publishText(id, x, y - 1, "rbg: 1.0 1.0 1.0, a: 0");
id++;
publishMesh(id, x, y, 1, 1, 1, 0, true, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, .5, true, true);
publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 1");
id++;
publishMesh(id, x, y, 1, 0, 0, 1, true, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 0, true, true);
publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 0.5");
id++;
publishMesh(id, x, y, 1, 0, 0, .5, true, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 1, true, true);
publishText(id, x, y - 1, "rbg: 1.0 0.0 0.0, a: 0");
id++;
publishMesh(id, x, y, 1, 0, 0, 0, true, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, .5, true, true);
publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 1");
id++;
publishMesh(id, x, y, 1, .5, .5, 1, true, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 0, true, true);
publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 0.5");
id++;
publishMesh(id, x, y, 1, .5, .5, .5, true, true);
id++; x++;
publishText(id, x, y - 1, "rbg: 1.0 0.5 0.5, a: 0");
id++;
publishMesh(id, x, y, 1, .5, .5, 0, true, true);
id++; x++;

y++; x = 0;

publishMesh( id, x, y, 1, 1, 1, 1, false, true);
publishText(id, x - 1, y, "mesh, use_embedded_materials = false");
id++;
publishMesh(id, x, y, 0, 0, 0, 0, false, true);
id++; x++;
publishMesh(id, x, y, 1, 1, 1, 1, false, true);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, .5, false, true);
publishMesh(id, x, y, 1, 1, 1, .5, false, true);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, 0, false, true);
publishMesh(id, x, y, 1, 1, 1, 0, false, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 1, false, true);
publishMesh(id, x, y, 1, 0, 0, 1, false, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, .5, false, true);
publishMesh(id, x, y, 1, 0, 0, .5, false, true);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 0, false, true);
publishMesh(id, x, y, 1, 0, 0, 0, false, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 1, false, true);
publishMesh(id, x, y, 1, .5, .5, 1, false, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, .5, false, true);
publishMesh(id, x, y, 1, .5, .5, .5, false, true);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 0, false, true);
publishMesh(id, x, y, 1, .5, .5, 0, false, true);
id++; x++;

y++; x = 0;

publishMesh( id, x, y, 1, 1, 1, 1, true, false);
publishText(id, x - 1, y, "sphere, use_embedded_materials = true");
id++;
publishMesh(id, x, y, 0, 0, 0, 0, true, false);
id++; x++;
publishMesh(id, x, y, 1, 1, 1, 1, true, false);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, .5, true, false);
publishMesh(id, x, y, 1, 1, 1, .5, true, false);
id++; x++;
publishMesh( id, x, y, 1, 1, 1, 0, true, false);
publishMesh(id, x, y, 1, 1, 1, 0, true, false);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 1, true, false);
publishMesh(id, x, y, 1, 0, 0, 1, true, false);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, .5, true, false);
publishMesh(id, x, y, 1, 0, 0, .5, true, false);
id++; x++;
publishMesh( id, x, y, 1, 0, 0, 0, true, false);
publishMesh(id, x, y, 1, 0, 0, 0, true, false);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 1, true, false);
publishMesh(id, x, y, 1, .5, .5, 1, true, false);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, .5, true, false);
publishMesh(id, x, y, 1, .5, .5, .5, true, false);
id++; x++;
publishMesh( id, x, y, 1, .5, .5, 0, true, false);
publishMesh(id, x, y, 1, .5, .5, 0, true, false);
id++; x++;

y++; x = 0;

publishMesh( id, x, y, 0, 0, 0, 0, true, true);
publishText(id, x - 1, y, "sphere, use_embedded_materials = false");
id++;
publishMesh(id, x, y, 0, 0, 0, 0, false, false);
id++; x++;
publishMesh(id, x, y, 1, 1, 1, 1, false, false);
id++; x++;
publishMesh(id, x, y, 1, 1, 1, .5, false, false);
id++; x++;
publishMesh(id, x, y, 1, 1, 1, 0, false, false);
id++; x++;
publishMesh(id, x, y, 1, 0, 0, 1, false, false);
id++; x++;
publishMesh(id, x, y, 1, 0, 0, .5, false, false);
id++; x++;
publishMesh(id, x, y, 1, 0, 0, 0, false, false);
id++; x++;
publishMesh(id, x, y, 1, .5, .5, 1, false, false);
id++; x++;
publishMesh(id, x, y, 1, .5, .5, .5, false, false);
id++; x++;
publishMesh(id, x, y, 1, .5, .5, 0, false, false);
id++; x++;
}

++counter;
void publishCallback(const ros::TimerEvent&)
{
return publishMeshes();
}

int main(int argc, char** argv)
{
ros::init(argc, argv, "mesh_marker_test");
ros::NodeHandle n;

g_marker_pub = n.advertise<visualization_msgs::Marker> ("mesh_markers", 0);
ros::Timer publish_timer = n.createTimer(ros::Duration(1), publishCallback);
bool latch_only = false;
if (argc == 2) {
if (std::string(argv[1]) == "--latch-only") {
latch_only = true;
}
}

g_marker_pub = n.advertise<visualization_msgs::Marker>("mesh_markers", 0, /*latch*/ latch_only);


ros::Duration(0.1).sleep();
ros::Timer publish_timer;
if (latch_only) {
ros::Duration(1.0).sleep();
publishMeshes();
} else {
publish_timer = n.createTimer(ros::Duration(1), publishCallback);
}

ros::spin();
}