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1.Interactive Markers: Basic Controls基本控件
说明：这篇教程说明base_controls教程代码如何工作
2.basic_controls教程说明：
所有交互标志物包含一个灰色盒子。在大多数情况下，这个灰色盒子会与对照的其余控件一起移动。它会告诉你互动标志物的坐标系如何移动。
这显示了如何控件使用6个独立控件，控件6个自由度。使用环去旋转和箭头移动的结构。
4.Simple 6-DOF control (fixed orientation)简单的六自由度控件（固定方向）
https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp
48 Marker makeBox( InteractiveMarker &msg )
49 {
50 Marker marker;
51
52 marker.type = Marker::CUBE;
53 marker.scale.x = msg.scale * 0.45;
54 marker.scale.y = msg.scale * 0.45;
55 marker.scale.z = msg.scale * 0.45;
56 marker.color.r = 0.5;
57 marker.color.g = 0.5;
58 marker.color.b = 0.5;
59 marker.color.a = 1.0;
60
61 return marker;
62 }
63
64 InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
65 {
66 InteractiveMarkerControl control;
67 control.always_visible = true;
68 control.markers.push_back( makeBox(msg) );
69 msg.controls.push_back( control );
70
71 return msg.controls.back();
72 }
https://raw.github.com/ros-visualization/visualization_tutorials/groovy-devel/interactive_marker_tutorials/src/basic_controls.cpp
183 void make6DofMarker( bool fixed, unsigned int interaction_mode, const tf::Vector3& position, bool show_6dof )
184 {
185 InteractiveMarker int_marker;
186 int_marker.header.frame_id = "base_link";
187 tf::pointTFToMsg(position, int_marker.pose.position);
188 int_marker.scale = 1;
189
190 int_marker.name = "simple_6dof";
191 int_marker.description = "Simple 6-DOF Control";
192
193 // insert a box
194 makeBoxControl(int_marker);
195 int_marker.controls[0].interaction_mode = interaction_mode;
196
197 InteractiveMarkerControl control;
198
199 if ( fixed )
200 {
201 int_marker.name += "_fixed";
202 int_marker.description += "\n(fixed orientation)";
203 control.orientation_mode = InteractiveMarkerControl::FIXED;
204 }
205
206 if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
207 {
208 std::string mode_text;
209 if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_3D ) mode_text = "MOVE_3D";
210 if( interaction_mode == visualization_msgs::InteractiveMarkerControl::ROTATE_3D ) mode_text = "ROTATE_3D";
211 if( interaction_mode == visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D ) mode_text = "MOVE_ROTATE_3D";
212 int_marker.name += "_" + mode_text;
213 int_marker.description = std::string("3D Control") + (show_6dof ? " + 6-DOF controls" : "") + "\n" + mode_text;
214 }
215
216 if(show_6dof)
217 {
218 control.orientation.w = 1;
219 control.orientation.x = 1;
220 control.orientation.y = 0;
221 control.orientation.z = 0;
222 control.name = "rotate_x";
223 control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
224 int_marker.controls.push_back(control);
225 control.name = "move_x";
226 control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
227 int_marker.controls.push_back(control);
228
229 control.orientation.w = 1;
230 control.orientation.x = 0;
231 control.orientation.y = 1;
232 control.orientation.z = 0;
233 control.name = "rotate_z";
234 control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
235 int_marker.controls.push_back(control);
236 control.name = "move_z";
237 control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
238 int_marker.controls.push_back(control);
239
240 control.orientation.w = 1;
241 control.orientation.x = 0;
242 control.orientation.y = 0;
243 control.orientation.z = 1;
244 control.name = "rotate_y";
245 control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
246 int_marker.controls.push_back(control);
247 control.name = "move_y";
248 control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
249 int_marker.controls.push_back(control);
250 }
251
252 server->insert(int_marker);
253 server->setCallback(int_marker.name, &processFeedback);
254 if (interaction_mode != visualization_msgs::InteractiveMarkerControl::NONE)
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