utils.py 文件源码

def marker_from_circle(circle, index=0, linewidth=0.1, color=ColorRGBA(1, 0, 0, 1), z=0., lifetime=10.0):
    marker = Marker()
    marker.header = make_header("/map")

    marker.ns = "Markers_NS"
    marker.id = index
    marker.type = Marker.CYLINDER
    marker.action = 0 # action=0 add/modify object
    # marker.color.r = 1.0
    # marker.color.g = 0.0
    # marker.color.b = 0.0
    # marker.color.a = 0.4
    marker.color = color
    marker.lifetime = rospy.Duration.from_sec(lifetime)

    marker.pose = Pose()
    marker.pose.position.z = z
    marker.pose.position.x = circle.center[0]
    marker.pose.position.y = circle.center[1]

    marker.scale = Vector3(circle.radius*2.0, circle.radius*2.0, 0)
    return marker