neka-nat/ez_interactive_marker

py_func:
  interactive_marker:
    name: 'py_func'
    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, ARROW]
            scale: {x: 0.8, y: 0.2, z: 0.2}
            color: {r: 1.0, a: 1.0}
  menu:
    - title: "main menu"
      children:
        - title: "loginfo"
          command:
            type: 'py_function'
            args:
              module: 'rospy'
              func: 'loginfo'
              args: {msg: 'Call rospy.loginfo!'}