gistlib - ros node that publishes spongebob in markers to rviz in python

To publish Spongebob as a marker in RViz using Python, you can follow these steps:

Import necessary libraries and messages:


main.py
#!/usr/bin/env python
import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import Vector3
from std_msgs.msg import ColorRGBA
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Create a publisher for the marker:


main.py
rospy.init_node('spongebob_marker_publisher')
marker_pub = rospy.Publisher('spongebob_marker', Marker, queue_size=10)
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Create a Marker message and set its parameters:


main.py
spongebob_marker = Marker()
spongebob_marker.header.frame_id = "/map"
spongebob_marker.type = Marker.MESH_RESOURCE
spongebob_marker.mesh_resource = "package://my_package/meshes/spongebob.stl"
spongebob_marker.scale = Vector3(1, 1, 1)
spongebob_marker.color = ColorRGBA(1.0, 0.5, 0.0, 1.0)
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Publish the marker repeatedly with different positions to animate Spongebob's movement:


main.py
while not rospy.is_shutdown():
    spongebob_marker.header.stamp = rospy.Time.now()
    spongebob_marker.pose.position.x = 1.0 # change this value to animate Spongebob's movement
    marker_pub.publish(spongebob_marker)
    rospy.sleep(0.1) # change this value to adjust the animation speed
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Visualize Spongebob in RViz:


main.py
roslaunch my_package rviz.launch
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Add a Marker Display to RViz and set its topic to /spongebob_marker.

Your final Python script should look like this:


main.py
#!/usr/bin/env python
import rospy
from visualization_msgs.msg import Marker
from geometry_msgs.msg import Vector3
from std_msgs.msg import ColorRGBA

rospy.init_node('spongebob_marker_publisher')
marker_pub = rospy.Publisher('spongebob_marker', Marker, queue_size=10)

spongebob_marker = Marker()
spongebob_marker.header.frame_id = "/map"
spongebob_marker.type = Marker.MESH_RESOURCE
spongebob_marker.mesh_resource = "package://my_package/meshes/spongebob.stl"
spongebob_marker.scale = Vector3(1, 1, 1)
spongebob_marker.color = ColorRGBA(1.0, 0.5, 0.0, 1.0)

while not rospy.is_shutdown():
    spongebob_marker.header.stamp = rospy.Time.now()
    spongebob_marker.pose.position.x = 1.0 # change this value to animate Spongebob's movement
    marker_pub.publish(spongebob_marker)
    rospy.sleep(0.1) # change this value to adjust the animation speed
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Note: Replace my_package with the name of your ROS package, and spongebob.stl with the filename and extension of your Spongebob mesh file.

ros node that publishes spongebob in markers to rviz in python

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