ros-planning/moveit-ros — pull request #27 by marioprats (2012-11-13 17:44:33+00:00)
Title: Interactive Markers for setting objects pose

This pull request adds the functionality for setting an object pose (when creating a planning scene) using interactive markers. It is a new layer on top of the existing manual approach where the user could introduce the position and orientation numbers directly. Now the user can do it manually as before, or dragging the interactive marker, which automatically fills the position and orientation fields. The interactive markers are created by a direct instantiation of the rviz InteractiveMarker class, without requiring a server and a display. This is done thanks to the InteractiveMarker class refactoring recently introduced in rviz.