neka-nat/ez_interactive_marker

simple_cube:
  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}
      - name: 'move_x'
        interaction_mode: !enum [visualization_msgs/InteractiveMarkerControl, MOVE_AXIS]
  menu:
    - title: "menu0"
      command:
        type: 'topic_pub'
        args:
          name: '/test'
          type: 'std_msgs/String'
          data: {data: 'Hello.'}
    - title: "menu1"
      children:
        - title: "submenu0"
        - title: "submenu1"