Interactive markers for teleoperation in ROS

Introduction

Interactive markers let you control robots by moving markers in a 3D space. They make teleoperation easy and visual.

You want to move a robot arm by dragging a marker in a 3D viewer.

You need to control a robot's position remotely with a simple interface.

You want to test robot movements before sending commands.

You want to give users a visual way to adjust robot goals interactively.

Syntax

ROS

interactive_markers::InteractiveMarkerServer server("marker_server");

// Create an interactive marker
visualization_msgs::InteractiveMarker int_marker;
int_marker.header.frame_id = "base_link";
int_marker.name = "my_marker";
int_marker.description = "Simple 6-DOF Control";

// Set marker pose
int_marker.pose.position.x = 1.0;
int_marker.pose.position.y = 0.0;
int_marker.pose.position.z = 0.0;

// Add controls to the marker
visualization_msgs::InteractiveMarkerControl control;
control.orientation.w = 1;
control.orientation.x = 0;
control.orientation.y = 0;
control.orientation.z = 0;
control.name = "move_z";
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
int_marker.controls.push_back(control);

// Insert marker into server
server.insert(int_marker);
server.applyChanges();

You create an InteractiveMarkerServer to manage markers.

Each marker has a frame, name, pose, and controls for interaction.

Examples

This example creates a marker that can be moved in the XY plane.

ROS

// Create a simple interactive marker
visualization_msgs::InteractiveMarker int_marker;
int_marker.header.frame_id = "base_link";
int_marker.name = "marker1";
int_marker.description = "Move me";

// Add a move control
visualization_msgs::InteractiveMarkerControl move_control;
move_control.name = "move_xy";
move_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_PLANE;
move_control.orientation.w = 1;
move_control.orientation.x = 0;
move_control.orientation.y = 0;
move_control.orientation.z = 0;
int_marker.controls.push_back(move_control);

This adds a control to rotate the marker around the Z axis.

ROS

// Add a rotate control
visualization_msgs::InteractiveMarkerControl rotate_control;
rotate_control.name = "rotate_z";
rotate_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
rotate_control.orientation.w = 1;
rotate_control.orientation.x = 0;
rotate_control.orientation.y = 0;
rotate_control.orientation.z = 0;
int_marker.controls.push_back(rotate_control);

Sample Program

This program creates a simple interactive marker that you can drag in the XY plane. When moved, it prints the new position to the console.

ROS

#include <ros/ros.h>
#include <interactive_markers/interactive_marker_server.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>

void processFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) {
  ROS_INFO_STREAM("Marker moved to position: " << feedback->pose.position.x << ", " << feedback->pose.position.y << ", " << feedback->pose.position.z);
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "simple_teleop_marker");
  interactive_markers::InteractiveMarkerServer server("simple_marker_server");

  visualization_msgs::InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.name = "teleop_marker";
  int_marker.description = "Drag to move robot";
  int_marker.pose.position.x = 0;
  int_marker.pose.position.y = 0;
  int_marker.pose.position.z = 0;

  visualization_msgs::InteractiveMarkerControl move_control;
  move_control.name = "move_xy";
  move_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_PLANE;
  move_control.orientation.w = 1;
  move_control.orientation.x = 0;
  move_control.orientation.y = 0;
  move_control.orientation.z = 0;
  int_marker.controls.push_back(move_control);

  server.insert(int_marker, &processFeedback);
  server.applyChanges();

  ros::spin();
  return 0;
}

Important Notes

Interactive markers require a running ROS master and RViz to visualize.

Use feedback callbacks to react when the marker moves.

Controls define how users can interact: move, rotate, or menu.

Summary

Interactive markers let you control robots visually and easily.

They work by adding controls to markers in 3D space.

Use feedback to handle user actions and update robot commands.

Practice

1. What is the main purpose of interactive markers in ROS teleoperation?

easy

A. To visually control robots by moving markers in 3D space

B. To write robot control code without any user input

C. To display static images of the robot status

D. To log robot sensor data for offline analysis

Solution

1. Step 1: Understand interactive markers role

   Interactive markers allow users to move and rotate markers in a 3D view to control robots easily.

2. Step 2: Compare options with purpose

   Only To visually control robots by moving markers in 3D space describes visual control via markers; others describe unrelated tasks.

3. Final Answer:

   To visually control robots by moving markers in 3D space -> Option A

4. Quick Check:

   Interactive markers = Visual robot control [OK]

Hint: Interactive markers let you move robot parts visually [OK]

Common Mistakes:

• Thinking markers are only for displaying data
• Confusing teleoperation with offline logging
• Assuming no user input is needed

2. Which ROS message type is commonly used to create an interactive marker for teleoperation?

easy

A. std_msgs/String

B. sensor_msgs/Image

C. geometry_msgs/Twist

D. visualization_msgs/InteractiveMarker

Solution

1. Step 1: Identify message type for interactive markers

   The message type visualization_msgs/InteractiveMarker is designed to define interactive markers in ROS.

2. Step 2: Eliminate unrelated message types

   sensor_msgs/Image is for images, geometry_msgs/Twist for velocity commands, std_msgs/String for text messages, so they don't create interactive markers.

3. Final Answer:

   visualization_msgs/InteractiveMarker -> Option D

4. Quick Check:

   Interactive marker message = visualization_msgs/InteractiveMarker [OK]

Hint: Interactive markers use visualization_msgs/InteractiveMarker type [OK]

Common Mistakes:

• Choosing geometry_msgs/Twist which is for velocity commands
• Confusing image or string messages with markers
• Not knowing ROS message types

3. Given this snippet handling interactive marker feedback in ROS:

void processFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) {
  if (feedback->event_type == visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE) {
    geometry_msgs::Pose new_pose = feedback->pose;
    // Update robot command with new_pose
  }
}

What happens when the user moves the marker?

medium

A. The robot command updates with the marker's new pose

B. The marker resets to its original position

C. The feedback event_type is ignored

D. The robot stops moving immediately

Solution

1. Step 1: Analyze feedback event type

   The code checks if the event_type is POSE_UPDATE, which means the marker was moved or rotated.

2. Step 2: Understand the effect of POSE_UPDATE

   When POSE_UPDATE occurs, the new pose is extracted and used to update the robot command, so the robot moves accordingly.

3. Final Answer:

   The robot command updates with the marker's new pose -> Option A

4. Quick Check:

   POSE_UPDATE triggers robot command update [OK]

Hint: POSE_UPDATE means marker moved, update robot pose [OK]

Common Mistakes:

• Assuming marker resets automatically
• Ignoring the event_type check
• Thinking robot stops without command

4. You wrote this callback for interactive marker feedback but the robot does not move:

void feedbackCallback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) {
  if (feedback->event_type = visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE) {
    // update robot command
  }
}

What is the error?

medium

A. Missing return statement in the callback

B. Using assignment '=' instead of comparison '==' in the if condition

C. Incorrect message type for feedback parameter

D. Not publishing the updated robot command

Solution

1. Step 1: Check the if condition syntax

   The condition uses '=' which assigns a value instead of '==' which compares values.

2. Step 2: Understand effect of assignment in if

   Assignment always returns true, so the condition is always true but does not properly check event_type, causing logic errors.

3. Final Answer:

   Using assignment '=' instead of comparison '==' in the if condition -> Option B

4. Quick Check:

   Use '==' to compare event_type, not '=' [OK]

Hint: Use '==' to compare, '=' assigns value [OK]

Common Mistakes:

• Confusing '=' and '==' in conditions
• Assuming missing return causes no movement
• Ignoring need to publish commands

5. You want to create an interactive marker that allows the user to rotate a robot arm joint only around the Z axis. Which control type and orientation should you use in your marker setup?

hard

A. Use a BUTTON control with no orientation

B. Use a MOVE_PLANE control with orientation aligned to the X axis

C. Use a ROTATE_AXIS control with orientation set to align Z axis with the joint axis

D. Use a MOVE_AXIS control aligned to the Y axis

Solution

1. Step 1: Identify control type for rotation

   ROTATE_AXIS control allows rotation around a single axis, suitable for rotating a joint.

2. Step 2: Set orientation to align with joint axis

   To rotate around Z axis, set the control's orientation so its Z axis matches the joint's rotation axis.

3. Final Answer:

   Use a ROTATE_AXIS control with orientation set to align Z axis with the joint axis -> Option C

4. Quick Check:

   ROTATE_AXIS + Z orientation = rotate joint around Z [OK]

Hint: ROTATE_AXIS control with Z orientation rotates joint around Z [OK]

Common Mistakes:

• Using MOVE_PLANE which moves in a plane, not rotate
• Choosing BUTTON which is for clicks, not rotation
• Aligning control to wrong axis