From 13f67b76f0d0437fbb232f5d1bd311a8eb4c3ec4 Mon Sep 17 00:00:00 2001 From: mosfet80 Date: Sun, 20 Oct 2024 18:00:54 +0200 Subject: [PATCH] Clean imarker_simple.cpp Clean code --- src/imarker_simple.cpp | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/src/imarker_simple.cpp b/src/imarker_simple.cpp index 912ae89..271bc6f 100644 --- a/src/imarker_simple.cpp +++ b/src/imarker_simple.cpp @@ -68,8 +68,6 @@ IMarkerSimple::IMarkerSimple( imarker_topic, node_base_interface_, clock_interface_, logging_interface_, topics_interface_, services_interface_, update_pub_qos, feedback_sub_qos); - // ros::Duration(2.0).sleep(); - // Create imarker make6DofMarker(latest_pose_, scale, parent_frame); @@ -130,8 +128,6 @@ void IMarkerSimple::make6DofMarker(const geometry_msgs::msg::Pose& pose, double int_marker_.name = IMARKER_NAME; - // int_marker_.controls[0].interaction_mode = InteractiveMarkerControl::MENU; - InteractiveMarkerControl control; control.orientation.w = 0.7071; control.orientation.x = 0.7071; @@ -144,10 +140,9 @@ void IMarkerSimple::make6DofMarker(const geometry_msgs::msg::Pose& pose, double control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; int_marker_.controls.push_back(control); - control.orientation.w = 0.7071; control.orientation.x = 0; control.orientation.y = 0.7071; - control.orientation.z = 0; + control.name = "rotate_z"; control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS; int_marker_.controls.push_back(control); @@ -155,8 +150,6 @@ void IMarkerSimple::make6DofMarker(const geometry_msgs::msg::Pose& pose, double control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; int_marker_.controls.push_back(control); - control.orientation.w = 0.7071; - control.orientation.x = 0; control.orientation.y = 0; control.orientation.z = 0.7071; control.name = "rotate_y";