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Marker textures #153

Merged
merged 9 commits into from
Aug 20, 2021
Merged

Marker textures #153

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2454d79
Ability to optionally define a texture for marker messages
Jun 25, 2021
b156448
Texture is accessible via uri alone
Jun 25, 2021
6688cf9
Update to use sensor_msgs/Image as backbone for texture transmission
Aug 3, 2021
d37e404
float32 for uv coordinates
Aug 3, 2021
24f48f3
URI for various import mechanisms for textures
Aug 16, 2021
995d779
Raw mesh transport
Aug 16, 2021
9b4fb11
Updating documentation
Aug 18, 2021
b0f6600
Minor doc fix
Aug 18, 2021
4edb1d0
Merge branch 'master' into marker_textures
Aug 19, 2021
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4 changes: 3 additions & 1 deletion visualization_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

set(msg_files
Expand All @@ -27,6 +28,7 @@ set(msg_files
"msg/Marker.msg"
"msg/MarkerArray.msg"
"msg/MenuEntry.msg"
"msg/UVCoordinate.msg"
)
set(srv_files
"srv/GetInteractiveMarkers.srv"
Expand All @@ -35,7 +37,7 @@ set(srv_files
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
DEPENDENCIES builtin_interfaces geometry_msgs sensor_msgs std_msgs
ADD_LINTER_TESTS
)

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10 changes: 10 additions & 0 deletions visualization_msgs/msg/Marker.msg
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Expand Up @@ -56,6 +56,16 @@ geometry_msgs/Point[] points
# NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# Texture resource is a special URI that can either reference a texture file in
# a format acceptable to libcurl or:
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We should add to the documentation references to resource retriever and use it like we already do for the meshes. (This lets us use package:// syntax too)

https://index.ros.org/p/resource_retriever/

Then for the embedded approach I might suggest embedded://name or attached://name and then we can mirror it and used the same keyword for the mesh.

# "texture_embedded://texture_name"
string texture_resource
# An image to be loaded into the rendering engine as the texture for this marker.
# This will be used iff texture_resource is set to texture_embedded.
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sensor_msgs/CompressedImage texture
# Location of each vertex within the texture; in the range: [0.0-1.0]
UVCoordinate[] uv_coordinates

# Only used for text markers
string text

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4 changes: 4 additions & 0 deletions visualization_msgs/msg/UVCoordinate.msg
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@@ -0,0 +1,4 @@
# Location of the pixel as a ratio of the width of a 2D texture.
# Values should be in range: [0.0-1.0].
float32 u
float32 v
2 changes: 2 additions & 0 deletions visualization_msgs/package.xml
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Expand Up @@ -16,12 +16,14 @@

<build_depend>builtin_interfaces</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>

<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>

<test_depend>ament_lint_common</test_depend>

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