관심있는것들

#include #include void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback ) { ROS_INFO_STREAM( feedback->marker_name

initialize points ,line_strip , line_list and do some basic configuration this time we have total 3 object , init header.frame_id , header.stamp , ns(namespace) , action, orientation. scale mean different things for these marker types. we add 100 of points, line_strip , line_list and send topic every 1/30 second and publish topic f is something to do with spiral rotation speed. launch file

we initialize node name "basic_shapes" and make publisher with topic name "visualization_marker" we set our frame id == "/my_frame" set namespace(ns) to "basic_shapes" and id to 0 == if a marker message is received with the same ns and id, the new marker will replace the old one. first starting shape is CUBE inside switch we keep change the shape variable to something else roslaunch using_makers..

Server bool add(); == This function provides the service for adding two ints, it takes in the request and response type defined in the srv file and returns a boolean. res.sum = req.a + req.b; == two ints are added and stored in the response. Client srv.request.a = atoll(argv[1]); == we instantiate an autogernerated service calss, and assign values into its request members. if (client.call (srv))..

Publisher ros::NodeHandle n; == Create a handle to this process' node. The first Nodehandle created will actually do the initialization of the node, and the last one destructed will cleanup and resources the node was using ros::Publisher chatter_pub = n.advertise("chatter", 1000); == Tell the master that we are going to be publishing a message fo type std_msgs/String on the topic chatter. queue ..