Ajout Readme + Modif mineures interface

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp

@@ -494,7 +494,7 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
  * threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
  * Return true if the filtering is done.
  */
-bool ASIFT_matcher::distFilter(int threshold)
+bool ASIFT_matcher::distFilter(float threshold)
 {
 	if(_showInfo)
 		cout<<"filtering keypoint..."<<endl;
@@ -565,6 +565,11 @@ bool ASIFT_matcher::distFilter(int threshold)
 			_num_matchings[i]=new_match.size();
 		}
 
+		//Update number of remaining points
+		_total_num_matchings = 0;
+		for(unsigned int i=0; i<_num_matchings.size();i++)
+			_total_num_matchings+=_num_matchings[i];
+
 		//Save filtered matchs
 		_matchings = filtered_match;
 

ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp

@@ -55,7 +55,7 @@ public:
 	unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Perform matching between an image and the references.
 	bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the mathcing keypoints.
 	bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
-	bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
+	bool distFilter(float threshold =2); //Perform a standard deviation filtering on the matching keypoints.
 
 	bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
 	bool loadReferences(const char* ref_path); //Load reference data necessary for the matching.

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -7,7 +7,7 @@ int main(int argc, char **argv)
 				  << " ***************************  ASIFT image matching  **************************** " << std::endl
 				  << " ******************************************************************************* " << std::endl
 				  << "Usage: " << argv[0] << " imgIn.png [Tilt number option] [Filter option] [Resize option] " << std::endl
-									      << "- imgIn.png: input image (in PNG format). " << std::endl
+									      << "- imgIn.png: input image. " << std::endl
 									      << "- [Tilt number option: 1..(32+ ?)] : 7: Recommended / 1: no tilt. " << std::endl
 									      << "- [Filter option: 0..3]. Standard deviation filter coeff (1-68%/2-95%/3-99%). 0: no filtering (default). " << std::endl 
 										  << "- [Resize option: 0/1]. 1: input images resize to 800x600 (default). 0: no resize. " << std::endl 

README.md

@@ -1,3 +1,86 @@
 # BaxterInterface
 Bricks for an Rviz based interface for objective sending.
 Maintainer: Antoine Harlé antoine.harle@etu.upmc.fr
+
+## What is this ?
+
+This is a ROS package implementing two working ROS modules : rviz_interface & asift_matching
+It also include other ongoing non-ROS modules, mostly for test purposes.
+
+### rviz_interface
+
+This ROS modules implements markers and a panel for Rviz for sending StateSpace messages.
+
+### asift_matching
+
+
+* texte reference generation :
+
+## Status 
+### Done
+
+### Todo
+REGLER LE PROBLEME DE FRAME ...
+Problème dans le filtrage : nombre de points _> probleme de reset du nombre
+
+## How to use it ?
+
+### Requirements
+
+* ROS Indigo (probably works in other versions too)
+ * PCL
+ * QT 5
+* Eigen 3
+
+### Usage
+
+* Clone the repository to your catkin src
+* catkin_make
+
+#### Simple Rviz interface
+* Run : roslaunch rviz_interface interface.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+
+#### Rviz interface with simple moving tracker
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_plannar_seg.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+#### ASIFT matching (no vizualisation)
+
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - asift_matching : roslaunch asift_matching asift_match.launch
+
+#### ASIFT matching & Rviz interface
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_matching.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+### Parameters
+
+* The topic names are defined as parameters in the launchfiles.
+
+* rviz_interface parameters are defined as parameters in the rviz_interface launchfiles : Interface objects are defined by their names and types (0-Default, 1-Button, 2-2D object, 3-3D object) (see StateSpace.msg for more details).
+
+* asift_matching parameters are defined as parameters in the asift_matching launchfiles : 
+-> References are defined by the path to the references files can be a txt file (faster - see texte reference generation in asift_matching section) or a series of images files (slower - currently not working).
+-> Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
+-> Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
+-> Standaed deviation filter coefficient is defined by a real value. Keep (1-68%/2-95%/3-99%) of the points statistically. 0: no filtering (default).

README.md~

@@ -1 +1,86 @@
 # BaxterInterface
+Bricks for an Rviz based interface for objective sending.
+Maintainer: Antoine Harlé antoine.harle@etu.upmc.fr
+
+## What is this ?
+
+This is a ROS package implementing two working ROS modules : rviz_interface & asift_matching
+It also include other ongoing non-ROS modules, mostly for test purposes.
+
+### rviz_interface
+
+This ROS modules implements markers and a panel for Rviz for sending StateSpace messages.
+
+### asift_matching
+
+
+* texte reference generation :
+
+## Status 
+### Done
+
+### Todo
+REGLER LE PROBLEME DE FRAME ...
+Problème dans le filtrage ?
+
+## How to use it ?
+
+### Requirements
+
+* ROS Indigo (probably works in other versions too)
+ * PCL
+ * QT 5
+* Eigen 3
+
+### Usage
+
+* Clone the repository to your catkin src
+* catkin_make
+
+#### Simple Rviz interface
+* Run : roslaunch rviz_interface interface.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+
+#### Rviz interface with simple moving tracker
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_plannar_seg.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+#### ASIFT matching (no vizualisation)
+
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - asift_matching : roslaunch asift_matching asift_match.launch
+
+#### ASIFT matching & Rviz interface
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_matching.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+### Parameters
+
+* The topic names are defined as parameters in the launchfiles.
+
+* rviz_interface parameters are defined as parameters in the rviz_interface launchfiles : Interface objects are defined by their names and types (0-Default, 1-Button, 2-2D object, 3-3D object) (see StateSpace.msg for more details).
+
+* asift_matching parameters are defined as parameters in the asift_matching launchfiles : 
+-> References are defined by the path to the references files can be a txt file (faster - see texte reference generation in asift_matching section) or a series of images files (slower - currently not working).
+-> Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
+-> Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
+-> Standaed deviation filter coefficient is defined by a real value. Keep (1-68%/2-95%/3-99%) of the points statistically. 0: no filtering (default).

asift_matching/launch/asift_match.launch

@@ -1,12 +1,17 @@
 <launch>
+	<!--Matcher Parameters/-->
 	<param name="tracked_object" value="6DOF"/>
 	<param name="num_tilt" type="int" value="2"/>
-	<param name="std_dev_filter_coeff" type="int" value="2"/>
+	<param name="std_dev_filter_coeff" type="double" value="2"/>
+	<!--Matcher References/-->
+	<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
 	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
-	<!--rosparam param="reference_data">[
-	"$(find asift_matching)/reference_data/train_image_000.png", 
-	"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
+	<rosparam param="reference_data">[
+        "train_image_000.png", 
+        "train_image_001.png"]
+        </rosparam>
 
+	<!--Topics/-->
 	<param name="object_center_topic" value="/object_center"/>
 	<param name="image_topic" value="/camera/rgb/image_raw"/>
 	<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

asift_matching/launch/asift_match.launch~

@@ -1,12 +1,17 @@
 <launch>
+	<!--Matcher Parameters/-->
 	<param name="tracked_object" value="6DOF"/>
 	<param name="num_tilt" type="int" value="2"/>
-	<param name="std_dev_filter_coeff" type="int" value="2"/>
+	<param name="std_dev_filter_coeff" type="float" value="2"/>
+	<!--Matcher References/-->
+	<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
 	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
-	<!--rosparam param="reference_data">[
-	"$(find asift_matching)/reference_data/train_image_000.png", 
-	"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
+	<rosparam param="reference_data">[
+        "train_image_000.png", 
+        "train_image_001.png"]
+        </rosparam>
 
+	<!--Topics/-->
 	<param name="object_center_topic" value="/object_center"/>
 	<param name="image_topic" value="/camera/rgb/image_raw"/>
 	<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

asift_matching/src/ASIFT_matcher.cpp

@@ -494,7 +494,7 @@ bool ASIFT_matcher::computeCenter(int& cx, int& cy) const
  * threshold : Filtering coefficient. 1-Keep 68% of the keypoints / 2-Keep 95% of the keypoints / 3-Keep 99% of the keypoints. Default : 2.
  * Return true if the filtering is done.
  */
-bool ASIFT_matcher::distFilter(int threshold)
+bool ASIFT_matcher::distFilter(float threshold)
 {
 	if(_showInfo)
 		cout<<"filtering keypoint..."<<endl;
@@ -565,6 +565,11 @@ bool ASIFT_matcher::distFilter(int threshold)
 			_num_matchings[i]=new_match.size();
 		}
 
+		//Update number of remaining points
+		_total_num_matchings = 0;
+		for(unsigned int i=0; i<_num_matchings.size();i++)
+			_total_num_matchings+=_num_matchings[i];
+
 		//Save filtered matchs
 		_matchings = filtered_match;
 

asift_matching/src/ASIFT_matcher.hpp

@@ -55,7 +55,7 @@ public:
 	unsigned int match(const vector<float>& image, unsigned int w, unsigned int h, unsigned int num_tilts =1); //Perform matching between an image and the references.
 	bool computeROI(int& x, int& y, unsigned int& h, unsigned int& w) const; //Compute the bounding rectangle of the mathcing keypoints.
 	bool computeCenter(int& cx, int& cy) const; //Compute the centroid of the matching keypoints.
-	bool distFilter(int threshold =2); //Perform a standard deviation filtering on the matching keypoints.
+	bool distFilter(float threshold =2); //Perform a standard deviation filtering on the matching keypoints.
 
 	bool saveReferences(const char* ref_path) const; //Save reference data necessary for the matching.
 	bool loadReferences(const char* ref_path); //Load reference data necessary for the matching.

asift_matching/src/ROS_matcher.cpp

@@ -7,15 +7,16 @@
 
 #include "ROS_matcher.hpp"
 
+//TODO : Regler le problème du chergements des images
 ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
 {
-	std::string center_topic, image_topic, pointcloud_topic, reference_txt_path;
+	std::string center_topic, image_topic, pointcloud_topic, reference_txt_path, reference_path;
 	std::vector<std::string> reference_data_paths;
 
 	//Load Param
 	_nh.param<std::string>("tracked_object", tracked_object, "Object");
 	_nh.param<int>("num_tilt", _num_tilt, 8);
-	_nh.param<int>("std_dev_filter_coeff", _filter_coeff, 0);
+	_nh.param<float>("std_dev_filter_coeff", _filter_coeff, 0);
 
 	_nh.param<std::string>("object_center_topic", center_topic,"/ASIFT_matcher/object_center");
 	_nh.param<std::string>("image_topic", image_topic,"/camera/rgb/image_raw");
@@ -34,26 +35,30 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
 
 	matcher.showInfo(false);
 	//Load References
-	if(_nh.getParam("reference_txt_path", reference_txt_path))
+	_nh.param<std::string>("reference_path", reference_path); //BUG sur reference path ?
+	ROS_INFO("Ref path : %s", reference_path.c_str());
+	if(_nh.getParam("reference_txt_path", reference_txt_path) && matcher.loadReferences(reference_txt_path.c_str()))
 	{
-		if(matcher.loadReferences(reference_txt_path.c_str()))
-			_status = MATCHER_STATUS_IDLE;
+		ROS_INFO("Loaded reference from %s",reference_txt_path.c_str());
 	}
 	else if(_nh.getParam("reference_data", reference_data_paths))
 	{
 		for(unsigned int i=0; i<reference_data_paths.size(); i++)
-			matcher.addReference(reference_data_paths[i].c_str(),_num_tilt);
-
-		if(matcher.getNbRef()>0)
-			_status = MATCHER_STATUS_IDLE;
+		{
+			matcher.addReference((reference_path+reference_data_paths[i]).c_str(),_num_tilt);
+			ROS_INFO("Loaded reference from %s",(reference_path+reference_data_paths[i]).c_str());
+		}
 	}
 	else
 	{
 		ROS_WARN("No reference data to initialize matcher.");
 	}
 
-	if(_status == MATCHER_STATUS_IDLE)
-		ROS_INFO("Matcher Ready ! (%d references from %s)",matcher.getNbRef(), reference_txt_path.c_str());
+	if(matcher.getNbRef()>0)
+	{
+		_status = MATCHER_STATUS_IDLE;
+		ROS_INFO("Matcher Ready ! (%d references)",matcher.getNbRef());
+	}
 }
 
 ROS_matcher::~ROS_matcher()
@@ -113,7 +118,7 @@ void ROS_matcher::cameraCallback(const sensor_msgs::Image::ConstPtr& image_msg,
 			// geometry_msgs::PointStamped center_msg;
 			rviz_interface::NamedPoint center_msg;
 			matcher.distFilter(_filter_coeff);
-
+			ROS_INFO("Filtered points : %d", matcher.getNbMatch());
 			if(matcher.computeCenter(cx, cy))
 			{
 				//Conversions des donnée d'entrée en PCL

asift_matching/src/ROS_matcher.hpp

@@ -50,7 +50,8 @@ protected:
 	message_filters::Synchronizer<MySyncPolicy>* Timesync;
 	
 	//Matcher
-	int _num_tilt, _filter_coeff; //Parameters of the ASIFT_matcher
+	int _num_tilt; //Number of tilts
+	float _filter_coeff; //Filter parameter
 	ASIFT_matcher matcher; //Matcher
 
 	MATCHER_STATUS _status; //Matcher status

rviz_interface/rviz_interface/launch/interface.launch

@@ -0,0 +1,17 @@
+<launch>
+	<node name="rviz" pkg="rviz" type="rviz"/>
+	
+	<!--Interface/-->
+		<!--Objects/-->
+	<param name="frame_id" value="/map"/>
+	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
+	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
+
+		<!--Topics/-->
+	<param name="objective_topic" value="/RvizInterface/state_objective"/>
+	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
+	<param name="config_topic" value="/RvizInterface/interface_config"/>
+
+	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
+
+</launch>

rviz_interface/rviz_interface/launch/interface.launch~

@@ -0,0 +1,16 @@
+<launch>
+	<node name="rviz" pkg="rviz" type="rviz"/>
+	
+	<!--Interface/-->
+		<!--Objects/-->
+	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
+	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
+
+		<!--Topics/-->
+	<param name="objective_topic" value="/RvizInterface/state_objective"/>
+	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
+	<param name="config_topic" value="/RvizInterface/interface_config"/>
+
+	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
+
+</launch>

rviz_interface/rviz_interface/launch/interface_matching.launch

@@ -1,11 +1,12 @@
 <launch>
 	<node name="rviz" pkg="rviz" type="rviz"/>
 
-	<!--Objects/-->
-	<rosparam param="tracked_object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
-	<rosparam param="tracked_object_types"> [3, 2, 1, 0]</rosparam>
-
 	<!--Interface/-->
+		<!--Objects/-->
+	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
+	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
+
+		<!--Topics/-->
 	<param name="objective_topic" value="/RvizInterface/state_objective"/>
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
@@ -13,13 +14,19 @@
 	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
 
 	<!--Matcher/-->
+		<!--Matcher Parameters/-->
+	<param name="tracked_object" value="Foo"/>
 	<param name="num_tilt" type="int" value="8"/>
-	<param name="std_dev_filter_coeff" type="int" value="2"/>
-	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/robobo_references.txt"/>
-	<!--rosparam param="reference_data">[
-	"$(find asift_matching)/reference_data/train_image_000.png", 
-	"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
-
+	<param name="std_dev_filter_coeff" type="double" value="2"/>
+		<!--Matcher References/-->
+	<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
+	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
+	<rosparam param="reference_data">[
+        "train_image_000.png", 
+        "train_image_001.png"]
+        </rosparam>
+	
+		<!--Topics/-->
 	<param name="object_center_topic" value="/object_center"/>
 	<param name="image_topic" value="/camera/rgb/image_raw"/>
 	<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

rviz_interface/rviz_interface/launch/interface_matching.launch~

@@ -2,6 +2,11 @@
 	<node name="rviz" pkg="rviz" type="rviz"/>
 
 	<!--Interface/-->
+		<!--Objects/-->
+	<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
+	<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
+
+		<!--Topics/-->
 	<param name="objective_topic" value="/RvizInterface/state_objective"/>
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
@@ -9,15 +14,19 @@
 	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
 
 	<!--Matcher/-->
-	<rosparam param="tracked_object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
-	<rosparam param="tracked_object_types"> [3, 2, 1, 0]</rosparam>
+		<!--Matcher Parameters/-->
+	<param name="tracked_object" value="Foo"/>
 	<param name="num_tilt" type="int" value="8"/>
-	<param name="std_dev_filter_coeff" type="int" value="2"/>
-	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/robobo_references.txt"/>
-	<!--rosparam param="reference_data">[
-	"$(find asift_matching)/reference_data/train_image_000.png", 
-	"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
-
+	<param name="std_dev_filter_coeff" type="double" value="0.5"/>
+		<!--Matcher References/-->
+	<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
+	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
+	<rosparam param="reference_data">[
+        "train_image_000.png", 
+        "train_image_001.png"]
+        </rosparam>
+	
+		<!--Topics/-->
 	<param name="object_center_topic" value="/object_center"/>
 	<param name="image_topic" value="/camera/rgb/image_raw"/>
 	<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

rviz_interface/rviz_interface/launch/interface_plannar_seg.launch

@@ -2,8 +2,8 @@
 	<node name="rviz" pkg="rviz" type="rviz"/>
 	
 	<!--Interface/-->
-	<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
-	<rosparam param="tracked_object_types"> [0]</rosparam>
+	<rosparam param="object_names"> ["6DOF"]</rosparam>
+	<rosparam param="object_types"> [0]</rosparam>
 	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
 
 	

rviz_interface/rviz_interface/src/InteractiveObject.cpp

@@ -9,7 +9,7 @@
 unsigned int InteractiveObject::nextObjectID = 1;
 
 //Constructeur
-InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position = tf::Vector3(0,0,0)) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
+InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
 {
 	_objectID = nextObjectID++;
 	_state.name = name;
@@ -31,7 +31,7 @@ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServe
 }
 
  //Construit un InteractiveMarker
-void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector3& position = tf::Vector3(0,0,0))
+void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector3& position)
 {
 	//// Création d'un marker interactif ////
 	// _int_marker.header.frame_id = "/map"; //Par défaut

rviz_interface/rviz_interface/src/InteractiveObject.hpp

@@ -36,10 +36,10 @@ protected:
 	ros::Publisher* _visual_pub;
 
 public:
-	InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape, const tf::Vector3& position);
+	InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape, const tf::Vector3& position = tf::Vector3(0,0,0));
 
 	//Construit un InteractiveMarker
-	void createInteractiveMarker(Marker& marker, const tf::Vector3& position);
+	void createInteractiveMarker(Marker& marker, const tf::Vector3& position = tf::Vector3(0,0,0));
 
 	//Fonction callback du serveur d' InteractiveMarker
 	void processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback );

rviz_interface/rviz_interface/src/RvizInterface.cpp

@@ -13,6 +13,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 	std::string objective_topic, vizualization_topic, config_topic, position_topic;
 	std::vector<std::string> object_names;
 	std::vector<int> object_types;
+	std::string frame_id;
 
 	//Load Topics param
 	_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
@@ -29,8 +30,9 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 	_position_sub = _n.subscribe(position_topic, 1, &RvizInterface::positionCallback, this);
 
 	//Load objects
-	_n.getParam("tracked_object_names",object_names);
-	_n.getParam("tracked_object_types",object_types);
+	_n.param<std::string>("frame_id", frame_id,"/map");
+	_n.getParam("object_names",object_names);
+	_n.getParam("object_types",object_types);
 
 	int names_size = object_names.size();
 
@@ -57,7 +59,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 				break;
 			case 1:
 				_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_BOOL, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
-				_objects[i]->addButtoncontrol();
+				// _objects[i]->addButtoncontrol();
 				break;
 			case 2:
 				_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
@@ -69,16 +71,6 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 				break;
 		}
 	}
-	// _objects.push_back(new InteractiveObject(&_server, object_name, (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
-	// _objects[0]->add6DOFcontrol();
-
-	// _objects.push_back(new InteractiveObject(&_server, "3DOF", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
-	// _objects[1]->add3DOFcontrol();
-
-	// _objects.push_back(new InteractiveObject(&_server, "3DOF 2", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(-1,1,0)));
-	// _objects[2]->add3DOFcontrol(tf::Vector3(0.5,0.5,0));
-
-	// _objects.push_back(new InteractiveObject(&_server, "Button", (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(1,-1,0)));
 
 	for(unsigned int i=0;i<_objects.size();i++)
 	{