From 03a2d670b89461035d048f93eb790cee00954326 Mon Sep 17 00:00:00 2001 From: Mikhail Medvedev Date: Sun, 27 Oct 2013 19:54:31 -0400 Subject: [PATCH] Use stl mesh for hydra marker. Adds the mesh --- meshes/README | 2 ++ meshes/hydra.stl | Bin 0 -> 304684 bytes src/vis/vis.py | 22 ++++++++++++++-------- 3 files changed, 16 insertions(+), 8 deletions(-) create mode 100644 meshes/README create mode 100644 meshes/hydra.stl diff --git a/meshes/README b/meshes/README new file mode 100644 index 0000000..f13409c --- /dev/null +++ b/meshes/README @@ -0,0 +1,2 @@ +Hydra mesh source: +http://www.zspline.net/blog/2012/01/15/the-razer-hydra-3d-model/ diff --git a/meshes/hydra.stl b/meshes/hydra.stl new file mode 100644 index 0000000000000000000000000000000000000000..07237ab325f1bbbd71c2aa0fb2926f209ed73ce1 GIT binary patch literal 304684 zcmb5Xb$At5+qaDe3l@ms?i82oS$J@#c!1(gLV)5<2oMsIKp;ViyF&?(S%VZQ?of(* zY0=`+!VC9v+~09t^L_h!=H;&($H{s9*1Fc3*^@mxdjdy>1cwgm)iYo3(BMJ&Y7gu+ zxM#1>(&fuku9UCX(Ba+ll`Wp^|LWgKANk)$O<$qj4_j>xURu)_a%zRDHEO!)pI{i5 zx~x*S_e?SSzX~;^K{6)aD)r#`5;J7&D1()xK|&+x%}UkDdy{!~^8{N4N%oD))v2fx 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diff --git a/src/vis/vis.py b/src/vis/vis.py index d01e92e..24cd820 100644 --- a/src/vis/vis.py +++ b/src/vis/vis.py @@ -39,17 +39,23 @@ def show_gripper(self, limb): msg.pose.position.y = +0.025 self.pub.publish(msg) - # Hydra + msg.type = Marker.MESH_RESOURCE msg.id += 1 - msg.scale.x = 0.06 - msg.scale.y = 0.04 - msg.scale.z = 0.18 - msg.pose.position.x = -0.09 + msg.scale.x = 1 + msg.scale.y = 1 + msg.scale.z = 1 + msg.pose.position.x = -0.04 msg.pose.position.y = 0 - msg.pose.position.z = 0 - msg.pose.orientation.z = 1 + msg.pose.position.z = -0.01 + + msg.lifetime = rospy.Duration() + msg.pose.orientation.x = 0 + msg.pose.orientation.y = 0 + msg.pose.orientation.z = 0 + msg.pose.orientation.w = 1 msg.color.r = 0.2 msg.color.g = 0.2 msg.color.b = 0.2 - msg.color.a = 0.2 + msg.color.a = 0.5 + msg.mesh_resource = 'package://baxter_hydra_teleop/meshes/hydra.stl' self.pub.publish(msg)