<> <> == Overview == The purpose of this package is to provide a basic generic marker server for teleoperation of twist-based robots, particularly simple differential drive bases. Examples of such platforms include [[Robots/TurtleBot|TurtleBot]], [[Robots/Husky|Husky]], and [[Robots/Kingfisher|Kingfisher]]. == API == {{{{#!wiki version groovy hydro {{{ #!clearsilver CS/NodeAPI name=marker_server desc=Serve interactive markers for control of a robot drive base. pub { 0.name = ~cmd_vel 0.type = geometry_msgs/Twist 0.desc = Command velocity messages arising from markers usage. Messages are not published when the markers are idle. } param { 0.name = ~link_name 0.type = str 0.desc = Name of frame to attach the markers to; typically will be `base_link` or `base_footprint`. 0.default = /base_link 1.name = ~robot_name 1.type = str 1.desc = Single-word name for the robot, to use in labelling the controller. 1.default = robot 2.name = ~marker_size_scale 2.type = double 2.desc = Scale the size of the markers, for platforms especially large or small. 2.default = 1.0 } }}} }}}} {{{{#!wiki version indigo_and_newer {{{ #!clearsilver CS/NodeAPI name=marker_server desc=Serve interactive markers for control of a robot drive base. pub { 0.name = cmd_vel 0.type = geometry_msgs/Twist 0.desc = Command velocity messages arising from markers usage. Messages are not published when the markers are idle. } param { 0.name = ~link_name 0.type = str 0.desc = Name of frame to attach the markers to; typically will be `base_link` or `base_footprint`. 0.default = /base_link 1.name = ~robot_name 1.type = str 1.desc = Single-word name for the robot, to use in labelling the controller. 1.default = robot 2.name = ~marker_size_scale 2.type = double 2.desc = Scale the size of the markers, for platforms especially large or small. 2.default = 1.0 } }}} }}}} == Roadmap == Package is '''experimental'''. Please see the feature tracker for planned enhancements. ## AUTOGENERATED DON'T DELETE ## CategoryPackage