Only released in EOL distros:   groovy hydro indigo

3D Interaction Cursor plugin for Rviz

This plugin allows you to control a 3D cursor in Rviz. The cursor is able to grab interactive markers and move them in much the same way as you would with the mouse.

How to Use Interactive Markers with 3D cursor

The 3D cursor emulates the behavior of a 2D mouse for the original interactive marker types:

• MENU/BUTTON: These act in the normal way.
• MOVE_AXIS: Translates along specified axis only (same as mouse).
• MOVE_PLANE: Translates perpendicular to specified axis only (same as mouse).
• ROTATE_AXIS: Rotates about specified axis (same as mouse).
• MOVE_ROTATE: Translates perpendicular to, and rotates about, specified axis only (same as mouse).

In addition, the 3D cursor supports the following interactive marker types:

• MOVE_3D: Free 3-DOF translation, with no rotation.
• ROTATE_3D: Free 3-DOF rotation, with no translation.
• MOVE_ROTATE_3D: Full 6-DOF translation and rotation. The 3D cursor and the grasped marker move as a single rigid body, maintaining the original transform between the two, until released.

How to Run / Test

Install the following debs:

sudo apt-get install ros-groovy-rviz-animated-view-controller

Add the following repositories to your catkin workspace:

- git: {local-name: ros_3d_interaction_cursor, uri: 'https://github.com/aleeper/ros_3d_interaction_cursor.git'}
- git: {local-name: razer_hydra, uri: 'https://github.com/aleeper/razer_hydra.git'}
- git: {local-name: interactive_markers, uri: 'https://github.com/ros-visualization/interactive_markers.git'}
- git: {local-name: rviz, uri: 'https://github.com/ros-visualization/rviz.git'}

You may also need https://github.com/ros-visualization/visualization_tutorials, which unfortunately must go in a rosbuild workspace.

Build your catkin workspace, and build interactive_marker_tutorials.

If you haven't configured udev rules for the hydra before, do:

roscd razer_hydra
./configure_udev_rules

and then plug your hydra in.

Then run:

roslaunch interaction_cursor_demo demo.launch

You can add the option start_hydra:=false, or change the radius of the hydra workspace with radius:=<a number>.

Controls

Using the "right" hydra controller, the buttons are:

• rb - "grab" and move the workspace

• rt - grab interactive marker controls

• joystick click - bring up interactive marker menus

• joystick directions - navigate interactive marker menus

• 3 - Select the currently highlighted menu entry

• 1 - Close the interactive marker menu

The "left" controller also works, but it is not able to grab and move the workspace.

Support

Please send bug reports, feature requests, etc. to the GitHub Issue Tracker.