README.md
# ez_interactive_marker
[](https://travis-ci.org/neka-nat/ez_interactive_marker)
[](https://codeclimate.com/github/neka-nat/ez_interactive_marker)
Easily create interactive markers from yaml files.
## Quick start
You can create a box with a menu by creating the following setting file.
```yaml:simple_cube.yaml
sample:
interactive_marker:
name: 'simple_cube'
header: {frame_id: 'base_link'}
pose: {orientation: {w: 1.0}}
controls:
- always_visible: True
interaction_mode: !enum [visualization_msgs/InteractiveMarkerControl, BUTTON]
markers:
- type: !enum [visualization_msgs/Marker, CUBE]
scale: {x: 0.45, y: 0.45, z: 0.45}
color: {r: 0.0, g: 0.5, b: 0.5, a: 1.0}
pose: {orientation: {w: 1.0}}
menu:
- title: "menu0"
- title: "menu1"
children: [{title: "submenu0"}, {title: "submenu1"}]
```
Please execute the following command.
```
cd example
rosrun ez_interactive_marker ez_interactive_marker -c simple_cube.yaml
```
Or the following commands are publishing the configuration.
```
rosrun ez_interactive_marker ez_interactive_marker
# another console
cd example
rosrun ez_interactive_marker publish_config.py simple_cube.yaml
```
## Supported yaml tags
It is possible to use several tags in the configuration file.
### include
This tag includes the written configuration file and expand the contents.
```yaml
!include sub_settings.yaml
```
### enum
This tag expands the enum variable of the specified message module.
```yaml
!enum [visualization_msgs/Marker, CUBE]
```
### euler
This tag converts euler xyz angle to quaternion.
```yaml
!euler [3.14159, 0.0, 0.0] # -> {x: 1.0, y: 0.0, z: 0.0, w: 0.0}
```
### degrees
This tag converts degrees to radians.
```yaml
!degrees 90.0 # -> 1.5708
```
## Subscribers
Some subscribers are added when generating a interactive marker.
- **/ez_interactive_marker/\<interactive marker name\>/update_interactive_marker**
- Keep the interactive marker's name and update it using `InteractiveMarker` message.
- **/ez_interactive_marker/\<interactive marker name\>/update_pose**
- Update the interactive marker's pose.
- **/ez_interactive_marker/\<interactive marker name\>/add_control**
- Add `InteractiveMarkerControl` to the interactive marker.
- **/ez_interactive_marker/\<interactive marker name\>/remove_control**
- Delete matching `InteractiveMarkerControl` with `InteractiveMarkerControl.name`.
## Menu settings
You can specify several commands to be executed when menu is selected.
### publish topic
In the following example, the string "hello" is published to the topic of "test".
Please also see [this example](example/simple_cube.yaml).
```yaml
menu:
- title: "menu0"
command:
type: 'topic_pub'
args:
name: '/test'
type: 'std_msgs/String'
data: {data: 'Hello.'}
```
### service call
In the following example, "add_two_ints" service is called.
Please also see [this example](example/add_two_ints.yaml).
```yaml
menu:
- title: "menu0"
command:
type: 'service_call'
args:
name: 'add_two_ints'
type: 'rospy_tutorials/AddTwoInts'
data: {a: 1.0, b: 2.0}
```
### python function
In the following example, python function is called.
Please also see [this example](example/py_func.yaml).
```yaml
menu:
- title: "loginfo"
command:
type: 'py_function'
args:
module: 'rospy'
func: 'loginfo'
args: {msg: 'Call rospy.loginfo!'}
```
### Grouped check box
You can create grouped checkboxes.
```yaml
menu:
- title: "menu0"
group: "a"
- title: "menu1"
group: "a"
- title: "menu2"
children:
- title: "submenu0"
group: "b"
- title: "submenu1"
group: "b"
- title: "submenu2"
group: "b"
```
In this case, menu0 and menu1 belong to group a,
and submenu0, submenu1 and submenu2 belong to group b.
Check boxes are controlled exclusively within the same group.