Created
May 4, 2015 12:54
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| view_controller_msgs::CameraPlacement camera_placement; | |
| camera_placement.interpolation_mode = | |
| view_controller_msgs::CameraPlacement::LINEAR; | |
| camera_placement.target_frame = "map"; | |
| ros::NodeHandle node_handle("~"); | |
| ros::Publisher cp_publisher = | |
| node_handle.advertise<view_controller_msgs::CameraPlacement>( | |
| "/rviz/camera_placement", 10, true); | |
| double rate = 4; | |
| ros::Rate loop_rate(rate); | |
| while(true) { | |
| double radius = 30; | |
| double t = ros::Time::now().toSec(); | |
| geometry_msgs::Point point; | |
| point.x = radius * cos(2 * M_PI * t / rate); | |
| point.y = radius * sin( 2 * M_PI * t / rate); | |
| point.z = 10; | |
| camera_placement.eye.point = point; | |
| camera_placement.eye.header.frame_id = "rotating_frame"; | |
| geometry_msgs::Point look_at; | |
| look_at.x = look_at.y = look_at.z = 0; | |
| camera_placement.focus.point = look_at; | |
| camera_placement.focus.header.frame_id = "map"; | |
| geometry_msgs::Vector3 up; | |
| up.x = 0; | |
| up.y = 0; | |
| up.z = 1; | |
| camera_placement.up.vector = up; | |
| camera_placement.up.header.frame_id = "map"; | |
| camera_placement.time_from_start = ros::Duration(1/rate); | |
| ros::spinOnce(); | |
| loop_rate.sleep(); | |
| cp_publisher.publish(camera_placement); | |
| } |
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