position_covariance.py 文件源码

def publishShape(self, position, rx, ry, tag, namespace):
        marker = Marker()
        marker.header.frame_id = '/map'
        marker.header.stamp = rospy.Time.now()

        marker.ns = namespace
        marker.id = int(tag)
        marker.action = Marker.ADD
        marker.type = self.shape

        self.setPosition(marker, position)
        self.setRadius(marker, rx, ry)
        self.setColor(marker, tag)

        marker.lifetime = rospy.Duration(5)

        self.publisher.publish(marker)