rigid_body_motion.ros.ReferenceFrameMarkerPublisher

class rigid_body_motion.ros.ReferenceFrameMarkerPublisher(frame, base=None, topic=None, max_points=1000, publish_interval=0.0, scale=0.1, color='#ffffffff', verbose=False)

Bases: rigid_body_motion.ros.visualization.BaseMarkerPublisher

Publisher for the translation of a reference frame wrt another.

__init__(frame, base=None, topic=None, max_points=1000, publish_interval=0.0, scale=0.1, color='#ffffffff', verbose=False)

Constructor.

Parameters

framestr or ReferenceFrame

Reference frame for which to publish the translation.

basestr or ReferenceFrame, optional

Base reference wrt to which the translation is published. Defaults to the parent reference frame.

topicstr, optional

Name of the topic on which to publish. Defaults to “/<frame>/path”.

max_pointsint, default 1000

Maximum number of points to add to the marker. Actual translation array will be sub-sampled to this number of points.

publish_intervalfloat, default 0.0

Time in seconds between publishing when calling spin.

Methods

__init__(frame[, base, topic, max_points, …])	Constructor.
get_ros3d_widget([ros, tf_client])	Get a ros3d.Marker widget to display in a ros3d.Viewer.
publish()	Publish a marker message.
spin([block])	Continuously publish messages.
stop()	Stop publishing.

get_ros3d_widget(ros=None, tf_client=None)

Get a ros3d.Marker widget to display in a ros3d.Viewer.

Parameters

rosjupyros.ros3d.ROSConnection, optional

ros3d ROS connection instance.

tf_clientjupyros.ros3d.TFClient, optional

ros3d TF client instance.

Returns

jupyros.ros3d.Marker

ros3d marker widget.

publish()

Publish a marker message.

spin(block=False)

Continuously publish messages.

Parameters

block: bool, default False

If True, this method will block until the publisher is stopped, e.g. by calling stop(). Otherwise, the main loop is dispatched to a separate thread which is returned by this function.

Returns

thread: threading.Thread

If block=True, the Thread instance that runs the loop.

stop()

Stop publishing.