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fix(*) Quaternion warning and model alpha.

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TinyO 2019-08-21 10:51:43 +08:00
parent 47471ed2ea
commit 593abc1b3d
1 changed files with 12 additions and 5 deletions
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17
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -26,6 +26,9 @@
#include <tf/tf.h> #include <tf/tf.h>
#include <tf2_ros/static_transform_broadcaster.h> #include <tf2_ros/static_transform_broadcaster.h>
#include "tf/transform_datatypes.h"//转换函数头文件
#include <nav_msgs/Odometry.h>//里程计信息格式
#include <opencv2/calib3d/calib3d.hpp> #include <opencv2/calib3d/calib3d.hpp>
#include <mynt_eye_ros_wrapper/GetInfo.h> #include <mynt_eye_ros_wrapper/GetInfo.h>
@ -1222,11 +1225,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.header.frame_id = base_frame_id_; mesh_msg_.header.frame_id = base_frame_id_;
mesh_msg_.header.stamp = ros::Time::now(); mesh_msg_.header.stamp = ros::Time::now();
mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE; mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
geometry_msgs::Quaternion q;
double Pie = 3.1416;
q = tf::createQuaternionMsgFromRollPitchYaw(Pie/2, 0.0, Pie/2);
// fill orientation // fill orientation
mesh_msg_.pose.orientation.x = 1; mesh_msg_.pose.orientation.x = q.x;
mesh_msg_.pose.orientation.y = 1; mesh_msg_.pose.orientation.y = q.y;
mesh_msg_.pose.orientation.z = 1; mesh_msg_.pose.orientation.z = q.z;
mesh_msg_.pose.orientation.w = 1; mesh_msg_.pose.orientation.w = q.w;
// fill position // fill position
mesh_msg_.pose.position.x = 0; mesh_msg_.pose.position.x = 0;
@ -1239,7 +1246,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.scale.z = 0.003; mesh_msg_.scale.z = 0.003;
mesh_msg_.action = visualization_msgs::Marker::ADD; mesh_msg_.action = visualization_msgs::Marker::ADD;
mesh_msg_.color.a = 1.0; // Don't forget to set the alpha! mesh_msg_.color.a = 0.5; // Don't forget to set the alpha!
mesh_msg_.color.r = 1.0; mesh_msg_.color.r = 1.0;
mesh_msg_.color.g = 1.0; mesh_msg_.color.g = 1.0;
mesh_msg_.color.b = 1.0; mesh_msg_.color.b = 1.0;