interactive_marker_helpers.h

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/* Author: Ioan Sucan, Acorn Pooley, Adam Leeper */
 
#pragma once
 
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <std_msgs/msg/color_rgba.hpp>
 
namespace robot_interaction
{
visualization_msgs::msg::InteractiveMarker
makeEmptyInteractiveMarker(const std::string& name, const geometry_msgs::msg::PoseStamped& stamped, double scale);
 
visualization_msgs::msg::InteractiveMarker make6DOFMarker(const std::string& name,
                                                          const geometry_msgs::msg::PoseStamped& stamped, double scale,
                                                          bool orientation_fixed = false);
 
visualization_msgs::msg::InteractiveMarker makePlanarXYMarker(const std::string& name,
                                                              const geometry_msgs::msg::PoseStamped& stamped,
                                                              double scale, bool orientation_fixed = false);
 
void addTArrowMarker(visualization_msgs::msg::InteractiveMarker& im);
 
void addErrorMarker(visualization_msgs::msg::InteractiveMarker& im);
 
void add6DOFControl(visualization_msgs::msg::InteractiveMarker& int_marker, bool orientation_fixed = false);
 
void addPlanarXYControl(visualization_msgs::msg::InteractiveMarker& int_marker, bool orientation_fixed = false);
 
void addOrientationControl(visualization_msgs::msg::InteractiveMarker& int_marker, bool orientation_fixed = false);
 
void addPositionControl(visualization_msgs::msg::InteractiveMarker& int_marker, bool orientation_fixed = false);
 
void addViewPlaneControl(visualization_msgs::msg::InteractiveMarker& int_marker, double radius,
                         const std_msgs::msg::ColorRGBA& color, bool position = true, bool orientation = true);
}  // namespace robot_interaction