RViz Visual Tools

https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/
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RViz Visual Tools is a C++ library for adding interactive markers and visualization aids to RViz,...
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### start

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Initializes the RvizVisualTools system. This should be called before using other functions.

```APIDOC
## start

### Description
Initializes the RvizVisualTools system.

### Signature
`ROSCPP_DECL void start()`
```

--------------------------------

### initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classRVTTest.html

Initializes the RVTTest class. This is a required setup step before using other test functionalities.

```APIDOC
## initialize()

### Description
Initializes the RVTTest class.

### Method
bool

### Endpoint
N/A (Class method)

### Parameters
None

### Request Example
N/A

### Response
#### Success Response (bool)
Returns true if initialization is successful, false otherwise.

#### Response Example
N/A
```

--------------------------------

### Pose and Frame Utilities

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools-members.html

Functions for generating random poses, retrieving the base frame, and getting identity poses.

```APIDOC
## generateRandomPose

### Description
Generates a random pose within specified bounds.

### Method
`static`

### Signature
`rviz_visual_tools::RvizVisualTools::generateRandomPose(Eigen::Isometry3d &pose, RandomPoseBounds pose_bounds=RandomPoseBounds())`
```

```APIDOC
## getBaseFrame

### Description
Retrieves the base frame of the visual tools.

### Method
`inline const`

### Signature
`const std::string& rviz_visual_tools::RvizVisualTools::getBaseFrame() const`
```

```APIDOC
## getIdentityPose

### Description
Returns an identity pose.

### Method
`static`

### Signature
`Eigen::Isometry3d rviz_visual_tools::RvizVisualTools::getIdentityPose()`
```

--------------------------------

### Publish Arrow with Start and End Points

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Publishes a general arrow using start and end geometry_msgs::Point. It sets the marker properties and prepares for publishing.

```cpp
bool RvizVisualTools::publishArrow(const geometry_msgs::Point& start, const geometry_msgs::Point& end, colors color,
scales scale, std::size_t id)
{
  // Set the frame ID and timestamp.
  arrow_marker_.header.stamp = ros::Time::now();
  arrow_marker_.header.frame_id = base_frame_;

  if (id == 0)
  {
    arrow_marker_.id++;
  }
  else
  {
    arrow_marker_.id = id;
  }

  arrow_marker_.points.clear();
  arrow_marker_.points.push_back(start);

```

--------------------------------

### Main Function for IMarkerSimple Demo

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple__demo_8cpp_source.html

Initializes ROS, sets up an asynchronous spinner, creates an instance of the IMarkerSimpleDemo server, and waits for shutdown. Ensure ROS is sourced before running.

```cpp
int main(int argc, char** argv)
{
// Initialize ROS
ros::init(argc, argv, "imarker_simple_demo");
ROS_INFO_STREAM_NAMED("main", "Starting IMarkerSimpleDemo...");

// Seed random number generator
// srand (time(NULL));

// Allow the action server to recieve and send ros messages
ros::AsyncSpinner spinner(2);
spinner.start();

// Initialize main class
rviz_visual_tools::IMarkerSimpleDemo server;

ros::waitForShutdown();

// Shutdown
ROS_INFO_STREAM_NAMED("main", "Shutting down.");
ros::shutdown();

return 0;
}
```

--------------------------------

### getColor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Gets the RGB value of standard colors.

```APIDOC
## getColor

### Description
Retrieves the RGBA color value for a predefined standard color.

### Parameters
- **color** (colors): An enum value representing a standard color (e.g., BLUE, RED, GREEN).

### Returns
- std_msgs::ColorRGBA: The RGBA color value.

### Example
```cpp
std_msgs::ColorRGBA blue_color = rvt.getColor(rviz_visual_tools::BLUE);
```
```

--------------------------------

### onInitialize()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_o.html

Initializes the tool. This function is part of the rviz_visual_tools::KeyTool class.

```APIDOC
## onInitialize()

### Description
Initializes the tool.

### Method
(Not specified, likely called internally by Rviz)

### Endpoint
(Not applicable)

### Parameters
(Not specified)

### Request Example
(Not applicable)

### Response
(Not specified)
```

--------------------------------

### getBaseFrame

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Gets the base frame used for transformations.

```APIDOC
## getBaseFrame

### Description
Retrieves the current base frame ID.

### Returns
- const std::string: The name of the base frame.

### Example
```cpp
std::string base_frame = rvt.getBaseFrame();
```
```

--------------------------------

### Initialize RvizVisualTools

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

Initializes the RvizVisualTools class, loads the marker publisher, and sets up batch publishing. It includes a 5-second delay before clearing existing markers.

```cpp
RvizVisualToolsDemo()
{
visual_tools_.reset(new rvt::RvizVisualTools("world", "/rviz_visual_tools"));
visual_tools_->loadMarkerPub(); // create publisher before waiting

ROS_INFO("Sleeping 5 seconds before running demo");
ros::Duration(5.0).sleep();

// Clear messages
visual_tools_->deleteAllMarkers();
visual_tools_->enableBatchPublishing();
}
```

--------------------------------

### getBaseFrame

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Gets the current base frame ID.

```APIDOC
## getBaseFrame() const

### Description
Returns the currently set base frame ID, which is the reference frame for all published markers.

### Returns
A `std::string` representing the base frame ID.
```

--------------------------------

### RvizVisualTools Demo Main Function

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

Initializes the ROS node, sets up an asynchronous spinner, creates an instance of the RvizVisualToolsDemo class, and calls various test functions.

```cpp
int main(int argc, char** argv)
{
  ros::init(argc, argv, "visual_tools_demo");
  ROS_INFO_STREAM("Visual Tools Demo");

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(1);
  spinner.start();

  rviz_visual_tools::RvizVisualToolsDemo demo;

  double x_location = 0;
  demo.testRows(x_location);
  demo.testSize(x_location, rviz_visual_tools::MEDIUM);
  demo.testSize(x_location, rviz_visual_tools::LARGE);
  demo.testSizes(x_location);

  ROS_INFO_STREAM("Shutting down.");

  return 0;
}
```

--------------------------------

### getColorScale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Gets a color based on a normalized value.

```APIDOC
## getColorScale(double value) const

### Description
Returns a `std_msgs::ColorRGBA` based on a given `value`, likely mapping the value to a color gradient. The exact gradient is determined by the implementation.

### Parameters
- **value** (double) - A normalized value (typically between 0.0 and 1.0) used to determine the color.

### Returns
A `std_msgs::ColorRGBA` object corresponding to the input value.
```

--------------------------------

### initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Initializes the RvizVisualTools system. This might involve setting up publishers or other necessary resources.

```APIDOC
## initialize

### Description
Initializes the RvizVisualTools system.

### Method Signature
`void initialize()`
```

--------------------------------

### getScale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Gets the RViz marker scale for standard sizes.

```APIDOC
## getScale

### Description
Retrieves the RViz marker scale corresponding to a standard size preset.

### Parameters
- **scale** (scales): An enum value representing a standard scale (e.g., SMALL, MEDIUM, LARGE).
- **marker_scale** (double): An additional scaling factor. Defaults to 1.0.

### Returns
- geometry_msgs::Vector3: The scale vector (x, y, z) for the marker.

### Example
```cpp
geometry_msgs::Vector3 medium_scale = rvt.getScale(rviz_visual_tools::MEDIUM);
```
```

--------------------------------

### RvizVisualTools::initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_i.html

Initializes the RvizVisualTools.

```APIDOC
## initialize()

### Description
Initializes the RvizVisualTools.

### Method
(Not specified, likely a C++ method)

### Endpoint
(Not applicable)

### Parameters
(Not specified)

### Request Example
(Not applicable)

### Response
(Not specified)
```

--------------------------------

### initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_i.html

Initializes the RvizVisualTools or RVTTest.

```APIDOC
## initialize()

### Description
Initializes the RvizVisualTools or RVTTest.

### Returns
- void
```

--------------------------------

### getGlobalScale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Gets the global scale factor applied to markers.

```APIDOC
## getGlobalScale() const

### Description
Returns the current global scale factor that is applied to all markers. This allows for uniform scaling of all visualizations.

### Returns
A `double` representing the global scale factor.
```

--------------------------------

### rviz_visual_tools::RemoteControl::getAutonomous

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8h_source.html

Gets the current autonomous mode status.

```APIDOC
## rviz_visual_tools::RemoteControl::getAutonomous

### Description
Get the autonomous mode.

### Method
bool

### Returns
- true if autonomous mode is enabled, false otherwise.
```

--------------------------------

### Initialize RvizVisualToolsGui Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__gui_8cpp_source.html

Sets up the RvizVisualToolsGui panel by creating and connecting QPushButton widgets for controlling ROS application states. It arranges these buttons in a horizontal layout, which is then added to the main vertical layout of the panel.

```cpp
RvizVisualToolsGui::RvizVisualToolsGui(QWidget* parent) : rviz::Panel(parent)
{
// Create a push button
btn_next_ = new QPushButton(this);
btn_next_->setText("Next");
connect(btn_next_, SIGNAL(clicked()), this, SLOT(moveNext()));

// Create a push button
btn_auto_ = new QPushButton(this);
btn_auto_->setText("Continue");
connect(btn_auto_, SIGNAL(clicked()), this, SLOT(moveAuto()));

// Create a push button
btn_full_auto_ = new QPushButton(this);
btn_full_auto_->setText("Break");
connect(btn_full_auto_, SIGNAL(clicked()), this, SLOT(moveFullAuto()));

// Create a push button
btn_stop_ = new QPushButton(this);
btn_stop_->setText("Stop");
connect(btn_stop_, SIGNAL(clicked()), this, SLOT(moveStop()));

// Horizontal Layout
auto* hlayout1 = new QHBoxLayout;
hlayout1->addWidget(btn_next_);
hlayout1->addWidget(btn_auto_);
hlayout1->addWidget(btn_full_auto_);
hlayout1->addWidget(btn_stop_);

// Verticle layout
auto* layout = new QVBoxLayout;
layout->addLayout(hlayout1);
setLayout(layout);

btn_next_->setEnabled(true);
btn_auto_->setEnabled(true);
btn_full_auto_->setEnabled(true);
}
```

--------------------------------

### load()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_l.html

Loads the RvizVisualToolsGui.

```APIDOC
## load()

### Description
Loads the RvizVisualToolsGui.

### Method
Not specified (assumed to be a member function call).

### Endpoint
Not applicable (SDK function).

### Parameters
None specified.

### Request Example
```
rviz_visual_tools::RvizVisualToolsGui::load();
```

### Response
None specified.
```

--------------------------------

### Get Autonomous Mode

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8cpp_source.html

Retrieves the current autonomous mode status.

```cpp
bool RemoteControl::getAutonomous()
{
  return autonomous_;
}
```

--------------------------------

### Get Stop Mode

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8cpp_source.html

Retrieves the current stop mode status of the robot.

```cpp
bool RemoteControl::getStop()
{
  return stop_;
}
```

--------------------------------

### Initialize IMarkerSimple Demo

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple__demo_8cpp_source.html

Initializes the RvizVisualTools and IMarkerSimple objects, sets up a callback for interactive marker feedback, and generates a random pose for the initial marker.

```cpp
#include <ros/ros.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <rviz_visual_tools/imarker_simple.h>

namespace rviz_visual_tools
{
class IMarkerSimpleDemo
{
public:
IMarkerSimpleDemo() : nh_("~")
{
visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("world", "/rviz_visual_tools"));
visual_tools_->loadMarkerPub();

// Create a random initial pose
geometry_msgs::Pose init_pose;
visual_tools_->generateRandomPose(init_pose);

// Create a 6DOF interactive marker
static const double SCALE = 0.2;
imarker_simple_.reset(new rviz_visual_tools::IMarkerSimple("imarker", SCALE, init_pose));

// Add callback to this class
imarker_simple_->setIMarkerCallback(std::bind(&IMarkerSimpleDemo::processIMarkerPose, this, std::placeholders::_1));

ROS_INFO_STREAM_NAMED(name_, "IMarkerSimpleDemo Ready.");
}

void processIMarkerPose(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
{
// Show some spheres for fun
visual_tools_->publishSphere(feedback->pose, visual_tools_->getRandColor());
visual_tools_->trigger();
}

private:

// --------------------------------------------------------

// The short name of this class
std::string name_ = "imarker_simple_demo";

// A shared node handle
ros::NodeHandle nh_;

rviz_visual_tools::RvizVisualToolsPtr visual_tools_;

rviz_visual_tools::IMarkerSimplePtr imarker_simple_;
};
}

```

--------------------------------

### rviz_visual_tools::RvizVisualTools::load()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_l.html

Loads the RvizVisualToolsGui.

```APIDOC
## load()

### Description
Loads the RvizVisualToolsGui.

### Method
(Not specified in source)

### Endpoint
(Not specified in source)

### Parameters
(No parameters specified in source)

### Request Example
(No request example specified in source)

### Response
#### Success Response (200)
(No response details specified in source)

#### Response Example
(No response example specified in source)
```

--------------------------------

### Get Full Autonomous Mode

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8cpp_source.html

Retrieves the current full autonomous mode status.

```cpp
bool RemoteControl::getFullAutonomous()
{
  return full_autonomous_;
}
```

--------------------------------

### onInitialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_o.html

Initializes the tool. This function is called when the tool is enabled.

```APIDOC
## onInitialize()

### Description
Initializes the tool. This function is called when the tool is enabled.

### Signature
`rviz_visual_tools::KeyTool onInitialize()`

### Returns
A `rviz_visual_tools::KeyTool` object representing the initialized tool.
```

--------------------------------

### IMarkerSimple Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple_8cpp_source.html

Initializes the IMarkerSimple class, creating an interactive marker server and a 6-DOF marker. The marker is configured with a name, scale, initial pose, and parent frame. The server is then updated to send the marker to RViz.

```cpp
#include <rviz_visual_tools/imarker_simple.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <string>

namespace rviz_visual_tools
{
IMarkerSimple::IMarkerSimple(const std::string& name, double scale, const geometry_msgs::Pose& initial_pose,
const std::string& parent_frame)
: nh_("~"), latest_pose_(initial_pose)
{
// Create Marker Server
const std::string imarker_topic = nh_.getNamespace() + "/" + name;
imarker_server_.reset(new interactive_markers::InteractiveMarkerServer(imarker_topic, "", false));

// ros::Duration(2.0).sleep();

// Create imarker
make6DofMarker(latest_pose_, scale, parent_frame);

// Send imarker to Rviz
imarker_server_->applyChanges();
}

```

--------------------------------

### slerp

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Performs spherical linear interpolation between a start and end value within a given range.

```APIDOC
## slerp

### Description
Interpolates from a start value to an end value within a specified range, based on the current value count.

### Signature
`static double slerp(double start, double end, double range, double value)`
```

--------------------------------

### Define Truncated Class

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/graph_legend.html

An example of a class where the inheritance relationship is hidden due to graph truncation.

```cpp
/*! Truncated class, inheritance relation is hidden */
class Truncated : public Invisible { };
```

--------------------------------

### Remote Control and Initialization

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools-members.html

Functions for loading remote control and initializing the visual tools.

```APIDOC
## getRemoteControl

### Description
Retrieves the remote control object.

### Signature
`RemoteControl* rviz_visual_tools::RvizVisualTools::getRemoteControl()`
```

```APIDOC
## loadRemoteControl

### Description
Loads the remote control functionality.

### Signature
`void rviz_visual_tools::RvizVisualTools::loadRemoteControl()`
```

```APIDOC
## loadRvizMarkers

### Description
Loads the necessary components for publishing RViz markers.

### Signature
`void rviz_visual_tools::RvizVisualTools::loadRvizMarkers()`
```

--------------------------------

### RemoteReciever Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__reciever_8h_source.html

Initializes the RemoteReciever by creating a ROS publisher for the '/rviz_visual_tools_gui' topic.

```cpp
RemoteReciever()
{
 joy_publisher_ = nh_.advertise<sensor_msgs::Joy>("/rviz_visual_tools_gui", 1);
}
```

--------------------------------

### slerp()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Interpolates a value within a given range based on start and end points. This is a static method.

```APIDOC
## slerp()

### Description
Interpolates from [start, end] with value of size steps with current value count.

### Parameters
* **_start_** (double) - The starting value of the range.
* **_end_** (double) - The ending value of the range.
* **_range_** (double) - The total range size.
* **_value_** (double) - The current value to interpolate.

### Returns
* interpolated value (double)
```

--------------------------------

### Publish Cylinder with Scale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

Publishes a cylinder defined by its start and end points, with a specified color and scale.

```cpp
visual_tools_->publishCylinder(pose1.translation(), pose2.translation(), BLUE, scale);
```

--------------------------------

### RvizVisualTools::initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Initializes the RvizVisualTools system. This function should be called before using other RvizVisualTools functionalities.

```APIDOC
## initialize

### Description
Initializes the RvizVisualTools system.

### Method
`void initialize()`

### Parameters
None
```

--------------------------------

### Get Identity Pose

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Returns a geometry_msgs::Pose representing the identity pose (zero translation and no rotation).

```cpp
geometry_msgs::Pose RvizVisualTools::getIdentityPose()
{
geometry_msgs::Pose pose;
// Position
pose.position.x = 0;
pose.position.y = 0;
pose.position.z = 0;

// Orientation on place
pose.orientation.x = 0;
pose.orientation.y = 0;
pose.orientation.z = 0;
pose.orientation.w = 1;
return pose;
}
```

--------------------------------

### Define Invisible Class

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/graph_legend.html

An example of a class that is not documented with Doxygen comments and will appear as an invisible box in the graph.

```cpp
/*! Invisible class because of truncation */
class Invisible { };
```

--------------------------------

### Configuration Handling

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualToolsGui-members.html

Methods for loading and saving the configuration of the RvizVisualToolsGui, overriding base class methods.

```APIDOC
## Configuration Methods

### Description
Methods to load and save the panel's configuration.

### Methods
- **load(const rviz::Config &config) override**: Loads the configuration from a given rviz::Config object.
- **save(rviz::Config config) const override**: Saves the current configuration to a rviz::Config object.
```

--------------------------------

### RvizVisualTools::slerp

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Interpolates between a start and end value within a given range based on a current value count.

```APIDOC
## RvizVisualTools::slerp

### Description
Interpolate from [start, end] with value of size steps with current value count.

### Method
static double slerp(double start, double end, double range, double value)
```

--------------------------------

### initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Performs shared initialization tasks for the RvizVisualTools class, typically called by constructors.

```APIDOC
## initialize

### Description
Shared function for initilization by constructors.

### Signature
`void initialize()`
```

--------------------------------

### IMarkerSimple Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple_8cpp_source.html

Initializes an IMarkerSimple object, creating and setting up an interactive marker server and the initial marker.

```APIDOC
## IMarkerSimple Constructor

### Description
Constructs an `IMarkerSimple` object. It initializes the interactive marker server and creates the initial 6-DOF marker in RViz.

### Parameters
- **name** (const std::string&): The name for the interactive marker.
- **scale** (double): The scale of the interactive marker.
- **initial_pose** (const geometry_msgs::Pose&): The initial pose of the interactive marker.
- **parent_frame** (const std::string&): The parent frame for the interactive marker.
```

--------------------------------

### publishLine

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Displays a line marker in RViz. Supports various input types for defining the start and end points, color, and scale.

```APIDOC
## publishLine

### Description
Displays a marker of line.

### Signature
```cpp
bool publishLine(const Eigen::Isometry3d &point1, const Eigen::Isometry3d &point2, colors color = BLUE, scales scale = MEDIUM)
```

### Signature
```cpp
bool publishLine(const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color, double radius)
```

### Signature
```cpp
bool publishLine(const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, colors color = BLUE, scales scale = MEDIUM)
```

### Signature
```cpp
bool publishLine(const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, double radius)
```

### Signature
```cpp
bool publishLine(const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std_msgs::ColorRGBA &color, scales scale = MEDIUM)
```

### Signature
```cpp
bool publishLine(const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, colors color = BLUE, scales scale = MEDIUM)
```

### Signature
```cpp
bool publishLine(const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, const geometry_msgs::Vector3 &scale)
```

### Signature
```cpp
bool publishLine(const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std_msgs::ColorRGBA &color, scales scale = MEDIUM)
```
```

--------------------------------

### Initialize RvizVisualTools

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rvt__test_8cpp_source.html

Initializes the RvizVisualTools object with a specified robot frame and topic. Allows time for messages to be published.

```cpp
bool initialize()
{
 visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("base", "/rviz_visual_tools"));

 // Allow time to publish messages
 ROS_INFO_STREAM_NAMED("test", "Waiting 4 seconds to start test...");
 return true;
}
```

--------------------------------

### RvizVisualToolsDemo Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualToolsDemo-members.html

Initializes a new instance of the RvizVisualToolsDemo class.

```APIDOC
## RvizVisualToolsDemo()

### Description
Constructs a new RvizVisualToolsDemo object.

### Method
Constructor

### Parameters
None

### Request Example
```cpp
rviz_visual_tools::RvizVisualToolsDemo demo;
```

### Response
None
```

--------------------------------

### Color and Scale Utilities

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools-members.html

Functions for color and scale manipulation, including getting specific colors, color scales, and global scale.

```APIDOC
## getColor

### Description
Retrieves a specific color based on an enum value.

### Method
`const`

### Signature
`const rviz_specials_plugin_msgs::ColorRGBA rviz_visual_tools::RvizVisualTools::getColor(colors color) const`
```

```APIDOC
## getColorScale

### Description
Calculates a color scale value based on a double.

### Method
`const`

### Signature
`double rviz_visual_tools::RvizVisualTools::getColorScale(double value) const`
```

```APIDOC
## getGlobalScale

### Description
Retrieves the global scale factor.

### Method
`inline const`

### Signature
`double rviz_visual_tools::RvizVisualTools::getGlobalScale() const`
```

```APIDOC
## getScale

### Description
Retrieves a specific scale based on an enum value and an optional marker scale.

### Method
`const`

### Signature
`double rviz_visual_tools::RvizVisualTools::getScale(scales scale, double marker_scale=1.0) const`
```

--------------------------------

### Get Random Color - RvizVisualTools

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Returns a random color from a predefined list of colors. Useful for visualizations where distinct, non-repeating colors are needed.

```cpp
colors RvizVisualTools::getRandColor()
{
const int rand_num = iRand(0, ALL_RAND_COLORS.size() - 1);
return ALL_RAND_COLORS[rand_num];
}
```

--------------------------------

### imarker_simple.cpp

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html

This file contains the implementation for the IMarkerSimple class, likely related to marker visualization in RViz.

```cpp
//
// Created on: Wed Mar 2 2022 01:03:26
// Author: Dave Coleman
//

```

--------------------------------

### getVectorBetweenPoints(const Eigen::Vector3d & a, const Eigen::Vector3d & b)

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Creates a 3D vector that points from a starting point 'a' to an ending point 'b'.

```APIDOC
## getVectorBetweenPoints(const Eigen::Vector3d & a, const Eigen::Vector3d & b)

### Description
Create a vector that points from point a to point b.

### Parameters
- **a** (const Eigen::Vector3d &) - x,y,z in space of a point
- **b** (const Eigen::Vector3d &) - x,y,z in space of a point

### Returns
vector from a to b
```

--------------------------------

### Initialize RvizVisualTools

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Sets the marker lifetime and loads reusable Rviz markers. Marker lifetime is set to 0 for unlimited duration.

```cpp
void RvizVisualTools::initialize()
{
marker_lifetime_ = ros::Duration(0.0); // 0 - unlimited

// Cache the reusable markers
loadRvizMarkers();
}
```

--------------------------------

### Get Marker Scale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Calculates a 3D scale vector based on a predefined scale enum and an optional marker scale factor. Applies global scaling.

```cpp
geometry_msgs::Vector3 RvizVisualTools::getScale(scales scale, double marker_scale) const
{
geometry_msgs::Vector3 result;
double val(0.0);
switch (scale)
{
case XXXXSMALL:
val = 0.001;
break;
case XXXSMALL:
val = 0.0025;
break;
case XXSMALL:
val = 0.005;
break;
case XSMALL:
val = 0.0065;
break;
case SMALL:
val = 0.0075;
break;
case MEDIUM:
val = 0.01;
break;
case LARGE:
val = 0.025;
break;
case XLARGE:
val = 0.05;
break;
case XXLARGE:
val = 0.075;
break;
case XXXLARGE:
val = 0.1;
break;
case XXXXLARGE:
val = 0.5;
break;
default:
ROS_ERROR_STREAM_NAMED(LOGNAME, "Not implemented yet");
break;
}

// Allows an individual marker size factor and a size factor for all markers
result.x = val * marker_scale * global_scale_;
result.y = val * marker_scale * global_scale_;
result.z = val * marker_scale * global_scale_;

return result;
}
```

--------------------------------

### RvizVisualToolsGui::load

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__gui_8h_source.html

Loads the panel's state from an RViz configuration.

```APIDOC
## void load(const rviz::Config& config)

### Description
Loads the panel's state from an RViz configuration object.

### Parameters
- **config** (const rviz::Config&) - The configuration object to load from.
```

--------------------------------

### Get Current Pose

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple_8cpp_source.html

Returns a reference to the latest pose of the interactive marker. This allows external code to retrieve the current pose of the marker as managed by the IMarkerSimple class.

```cpp
geometry_msgs::Pose& IMarkerSimple::getPose()
{
return latest_pose_;
}

```

--------------------------------

### TFVisualTools Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/tf__visual__tools_8cpp_source.html

Initializes the TFVisualTools class and sets up a timer for publishing all transforms. Requires the desired update frequency in Hz.

```cpp
TFVisualTools::TFVisualTools(double loop_hz)
{
  ros::Duration update_freq = ros::Duration(1.0 / loop_hz);
  non_realtime_loop_ = nh_.createTimer(update_freq, &TFVisualTools::publishAllTransforms, this);

  ROS_INFO_STREAM_NAMED("tf_visual_tools", "TFVisualTools Ready.");
}
```

--------------------------------

### Test Initialization

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rvt__test_8cpp_source.html

Verifies that the RvizVisualTools object can be successfully initialized.

```cpp
TEST(RVTTest, initialize)
{
ASSERT_TRUE(BASE.initialize());
}
```

--------------------------------

### Get Color Scale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Generates an RGBA color based on a normalized intensity value (0.0 to 1.0), interpolating between red, yellow, and green. Handles out-of-range values by clamping them.

```cpp
std_msgs::ColorRGBA RvizVisualTools::getColorScale(double value) const
{
// User warning
if (value < 0)
{
ROS_WARN_STREAM_NAMED(LOGNAME, "Intensity value for color scale is below range [0,1], value: " << value);
value = 0;
}
else if (value > 1)
{
ROS_WARN_STREAM_NAMED(LOGNAME, "Intensity value for color scale is above range [0,1], value: " << value);
value = 1;
}

std_msgs::ColorRGBA start;
std_msgs::ColorRGBA end;

// For second half of color range move towards RED
if (value == 0.0)
{
return getColor(RED);
}
else if (value == 1.0)
{
return getColor(GREEN);
}
else if (value <= 0.5)
{
start = getColor(RED);
end = getColor(YELLOW);
}
else
{
start = getColor(YELLOW);
end = getColor(GREEN);
value = fmod(value, 0.5);
}

std_msgs::ColorRGBA result;
result.r = slerp(start.r, end.r, 0.5, value);
result.g = slerp(start.g, end.g, 0.5, value);
result.b = slerp(start.b, end.b, 0.5, value);
result.a = alpha_;

return result;
}
```

--------------------------------

### RvizVisualToolsGui Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualToolsGui-members.html

Constructs a RvizVisualToolsGui object. It inherits from rviz::Panel and takes a QWidget parent.

```APIDOC
## RvizVisualToolsGui(QWidget *parent=nullptr)

### Description
Constructor for the RvizVisualToolsGui class.

### Signature
rviz_visual_tools::RvizVisualToolsGui(QWidget *parent=nullptr)
```

--------------------------------

### Publish Wireframe Cuboid with Dimensions

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

Use this to display a wireframe cuboid with specified depth, width, and height. Similar to the previous example, it's drawn in a loop with changing position and orientation.

```cpp
visual_tools_->publishWireframeCuboid(pose1, depth, width, height, rvt::RAND);
if (i == 0.0)
{
  publishLabelHelper(pose1, "Wireframe Cuboid");
}

pose1.translation().x() += step;
pose1 = pose1 * Eigen::AngleAxisd(step * 2 * M_PI, Eigen::Vector3d::UnitZ());
```

--------------------------------

### Define Inherited Class with Multiple Inheritances

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/graph_legend.html

An example of a class inheriting from multiple other classes using various inheritance types (public, protected, private). This demonstrates complex relationships visualized in the graph.

```cpp
/*! Super class that inherits a number of other classes */
class Inherited : public PublicBase,
protected ProtectedBase,
private PrivateBase,
public Undocumented,
public Templ<int>
{
private:
Used *m_usedClass;
};
```

--------------------------------

### RvizVisualTools Test Main Function

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rvt__test_8cpp_source.html

Initializes Google Test and ROSCPP for running RvizVisualTools tests. This is the entry point for the test executable.

```C++
int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
ros::init(argc, argv, "rviz_visual_tools_tests");
return RUN_ALL_TESTS();
}
```

--------------------------------

### Initialize Rviz Marker Publisher

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Initializes the ROS publisher for Rviz markers. It advertises on the specified marker_topic_ with a queue size of 10 and an optional latched option. If wait_for_subscriber is true, it will block until a subscriber is found.

```cpp
pub_rviz_markers_ = nh_.advertise<visualization_msgs::MarkerArray>(marker_topic_, 10, latched);
ROS_DEBUG_STREAM_NAMED(LOGNAME, "Publishing Rviz markers on topic " << pub_rviz_markers_.getTopic());

if (wait_for_subscriber)
{
  waitForSubscriber(pub_rviz_markers_);
}
```

--------------------------------

### Publish Multiple Line Segments with Scale

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

Publishes multiple line segments defined by pairs of start and end points, with specified colors and scale. Ensure points and colors vectors are correctly populated.

```cpp
visual_tools_->publishLines(points1, points2, colors, scale);
```

--------------------------------

### RvizVisualToolsGui::moveFullAuto

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__gui_8h_source.html

Initiates a full autonomous movement sequence.

```APIDOC
## RvizVisualToolsGui::moveFullAuto

### Description
Executes a full autonomous movement sequence.

### Signature
void moveFullAuto()

```

--------------------------------

### loadMarkerPub()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_l.html

Loads the marker publisher for RvizVisualTools.

```APIDOC
## loadMarkerPub()

### Description
Loads the marker publisher for RvizVisualTools.

### Method
Not specified (assumed to be a member function call).

### Endpoint
Not applicable (SDK function).

### Parameters
None specified.

### Request Example
```
rviz_visual_tools::RvizVisualTools::loadMarkerPub();
```

### Response
None specified.
```

--------------------------------

### RvizVisualToolsGui::load

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__gui_8h_source.html

Loads the configuration for the RvizVisualToolsGui from a given rviz::Config object.

```APIDOC
## RvizVisualToolsGui::load

### Description
Loads the RvizVisualToolsGui configuration from a given rviz::Config object.

### Signature
void load(const rviz::Config &config) override

### Parameters
- **config** (const rviz::Config &) - The configuration object to load from.
```

--------------------------------

### RemoteReciever Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RemoteReciever.html

Initializes a new instance of the RemoteReciever class.

```APIDOC
## RemoteReciever()

### Description
Initializes a new instance of the RemoteReciever class.

### Method
RemoteReciever

### Parameters
None

### Response Example
(Constructor, no direct response)

```

--------------------------------

### RvizVisualTools::initialize

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Initializes the RvizVisualTools by setting the marker lifetime and loading reusable markers.

```APIDOC
## void initialize()

### Description
Initializes the RvizVisualTools. This includes setting the marker lifetime to unlimited (0.0) and loading pre-defined Rviz markers for efficiency.
```

--------------------------------

### loadMarkerPub(bool wait_for_subscriber, bool latched)

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools.html

Loads the necessary publishers for RViz markers, with options to wait for subscribers and set latching behavior.

```APIDOC
## loadMarkerPub(bool wait_for_subscriber, bool latched)

### Description
Load publishers as needed.

### Parameters
- **wait_for_subscriber** (bool) - whether a sleep for loop should be used to check for connectivity to an external node before proceeding
- **latched** (bool) - whether the publisher should be latched

### Returns
void
```

--------------------------------

### IMarkerSimpleDemo

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_i.html

Demonstrates the IMarkerSimple functionality.

```APIDOC
## IMarkerSimpleDemo()

### Description
Constructor for the IMarkerSimpleDemo class.

### Method
(Not specified, likely a C++ method)

### Endpoint
(Not applicable)

### Parameters
(Not specified)

### Request Example
(Not applicable)

### Response
(Not specified)
```

--------------------------------

### RvizVisualToolsGui Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualToolsGui.html

Constructor for the RvizVisualToolsGui class. It initializes the GUI panel with an optional parent widget.

```APIDOC
## RvizVisualToolsGui()

### Description
Constructor for the RvizVisualToolsGui class.

### Signature
`rviz_visual_tools::RvizVisualToolsGui::RvizVisualToolsGui(QWidget *parent = nullptr)`

### Definition
Defined at line 86 of file rviz_visual_tools_gui.cpp.
```

--------------------------------

### RvizVisualTools Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualTools-members.html

Initializes the RvizVisualTools object. It takes the base frame, marker topic, and a NodeHandle as arguments.

```APIDOC
## RvizVisualTools(std::string base_frame, std::string marker_topic=RVIZ_MARKER_TOPIC, ros::NodeHandle nh=ros::NodeHandle("~"))

### Description
Constructor for the RvizVisualTools class.

### Parameters
- **base_frame** (std::string) - The base frame for the visualizations.
- **marker_topic** (std::string, optional) - The ROS topic for markers. Defaults to RVIZ_MARKER_TOPIC.
- **nh** (ros::NodeHandle, optional) - The ROS NodeHandle. Defaults to a private NodeHandle.
```

--------------------------------

### Create a 6-DOF Interactive Marker

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/imarker__simple_8cpp_source.html

Initializes and configures a 6-DOF interactive marker with specified pose, scale, and parent frame. It sets up controls for rotation and translation along X, Y, and Z axes.

```cpp
void IMarkerSimple::make6DofMarker(const geometry_msgs::Pose& pose, double scale, const std::string& parent_frame)
{
ROS_INFO_STREAM_NAMED(name_, "Making 6dof interactive marker named " << name_);

int_marker_.header.frame_id = parent_frame;
int_marker_.pose = pose;
int_marker_.scale = scale;

int_marker_.name = name_;

// int_marker_.controls[0].interaction_mode = InteractiveMarkerControl::MENU;

InteractiveMarkerControl control;
control.orientation.w = 0.7071;
control.orientation.x = 0.7071;
control.orientation.y = 0;
control.orientation.z = 0;
control.name = "rotate_x";
control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
int_marker_.controls.push_back(control);
control.name = "move_x";
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);
control.name = "move_z";
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";
control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
int_marker_.controls.push_back(control);
control.name = "move_y";
control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
int_marker_.controls.push_back(control);

imarker_server_->insert(int_marker_);
imarker_server_->setCallback(int_marker_.name, boost::bind(&IMarkerSimple::iMarkerCallback, this, _1));
// menu_handler_.apply(*imarker_server_, int_marker_.name);
}
```

--------------------------------

### Set Ready for Next Step

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8cpp_source.html

Sets the robot to be ready for the next step and clears the stop flag. If the system is waiting, it signals that the next step is ready.

```cpp
bool RemoteControl::setReadyForNextStep()
{
 stop_ = false;

 if (is_waiting_)
 {
 next_step_ready_ = true;
 }
 return true;
}
```

--------------------------------

### initialize()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classRVTTest-members.html

Initializes the RVTTest class. This is an inline function.

```APIDOC
## initialize()

### Description
Initializes the RVTTest class.

### Method
inline

### Parameters
None

### Request Example
None

### Response
None
```

--------------------------------

### RvizVisualTools Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Initializes the RvizVisualTools object with a base frame, marker topic, and ROS node handle.

```APIDOC
## RvizVisualTools(std::string base_frame, std::string marker_topic = RVIZ_MARKER_TOPIC, ros::NodeHandle nh = ros::NodeHandle("~"))

### Description
Constructs an instance of RvizVisualTools, setting up the necessary ROS publishers and parameters for visualizing markers.

### Parameters
- **base_frame** (std::string) - Required - The TF frame that all markers will be attached to.
- **marker_topic** (std::string) - Optional - The ROS topic on which markers will be published. Defaults to RVIZ_MARKER_TOPIC.
- **nh** (ros::NodeHandle) - Optional - The ROS node handle to use for creating publishers. Defaults to a private node handle (~).
```

--------------------------------

### rviz_visual_tools::RvizVisualTools::loadRvizMarkers()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_l.html

Loads Rviz markers.

```APIDOC
## loadRvizMarkers()

### Description
Loads Rviz markers.

### Method
(Not specified in source)

### Endpoint
(Not specified in source)

### Parameters
(No parameters specified in source)

### Request Example
(No request example specified in source)

### Response
#### Success Response (200)
(No response details specified in source)

#### Response Example
(No response example specified in source)
```

--------------------------------

### RvizVisualTools::loadMarkerPub

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8h_source.html

Loads publishers as needed, with options to wait for subscribers and set latching.

```APIDOC
## RvizVisualTools::loadMarkerPub

### Description
Load publishers as needed.

### Method
void loadMarkerPub(bool wait_for_subscriber=false, bool latched=false)
```

--------------------------------

### TFVisualTools Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1TFVisualTools-members.html

Initializes the TFVisualTools class. It can optionally take a loop frequency.

```APIDOC
## TFVisualTools(double loop_hz=2)

### Description
Explicit constructor for TFVisualTools.

### Parameters
* **loop_hz** (double) - Optional - The frequency at which to loop, defaults to 2 Hz.
```

--------------------------------

### rviz_visual_tools::RemoteControl::setReadyForNextStep

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/remote__control_8h_source.html

Signals that the system is ready for the next step in the pipeline.

```APIDOC
## rviz_visual_tools::RemoteControl::setReadyForNextStep

### Description
Step to next step.

### Method
bool

### Returns
- true if successful, false otherwise.
```

--------------------------------

### RvizVisualToolsGui

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_r.html

Constructor for the RvizVisualToolsGui class.

```APIDOC
## RvizVisualToolsGui()

### Description
Constructor for the RvizVisualToolsGui class.

### Method
(Not specified in source)

### Endpoint
(Not specified in source)

### Parameters
(No parameters specified in source)

### Request Example
(No request example specified in source)

### Response
#### Success Response (200)
- **return value** (rviz_visual_tools::RvizVisualToolsGui) - Description of return value not specified in source.

#### Response Example
(No response example specified in source)
```

--------------------------------

### Load Text Marker Configuration

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Configures a visualization_msgs::Marker for text. Sets namespace, action, type (TEXT_VIEW_FACING), and lifetime. The pose is reset to identity.

```cpp
text_marker_.ns = "Text";
text_marker_.action = visualization_msgs::Marker::ADD;
text_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
text_marker_.lifetime = marker_lifetime_;
text_marker_.pose = getIdentityPose();
```

--------------------------------

### load() Method

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RvizVisualToolsGui.html

Loads the configuration from a given rviz::Config object. This method is an override from the rviz::Panel class.

```APIDOC
## load()

### Description
Loads the configuration from a given rviz::Config object.

### Signature
`void rviz_visual_tools::RvizVisualToolsGui::load(const rviz::Config &config)`

### Details
- `override`
- `virtual`
- Reimplemented from `rviz::Panel`.

### Definition
Defined at line 150 of file rviz_visual_tools_gui.cpp.
```

--------------------------------

### activate()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions.html

Activates a specific tool within RvizVisualTools.

```APIDOC
## activate()

### Description
Activates a tool, making it the currently selected tool for interaction.

### Method
Not specified (likely a member function of a class).

### Endpoint
Not applicable (SDK/library function).

### Parameters
None explicitly documented.

### Request Example
```
// Example usage within the library
key_tool_instance.activate();
```

### Response
None explicitly documented.
```

--------------------------------

### RvizVisualTools Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools_8cpp_source.html

Initializes the RvizVisualTools class with a base frame and marker topic. The constructor takes ownership of the NodeHandle.

```cpp
RvizVisualTools::RvizVisualTools(std::string base_frame, std::string marker_topic, ros::NodeHandle nh)
: nh_(nh), marker_topic_(std::move(marker_topic)), base_frame_(std::move(base_frame))
{
initialize();
}
```

--------------------------------

### setReadyForNextStep

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1RemoteControl-members.html

Indicates readiness for the next step in a sequence.

```APIDOC
## setReadyForNextStep()

### Description
Signals that the system is ready to proceed to the next step in a predefined sequence.

### Method
SET

### Endpoint
N/A (Method call)
```

--------------------------------

### KeyTool Constructor and Destructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1KeyTool.html

Documentation for the default constructor and destructor of the KeyTool class.

```APIDOC
## KeyTool()

| rviz_visual_tools::KeyTool::KeyTool | ( | | ) |
---|---|---|---
default
```

```APIDOC
## ~KeyTool()

| rviz_visual_tools::KeyTool::~KeyTool | ( | | ) |
---|---|---|---
overridedefault
```

--------------------------------

### loadRvizMarkers()

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/functions_func_l.html

Loads Rviz markers.

```APIDOC
## loadRvizMarkers()

### Description
Loads Rviz markers.

### Method
Not specified (assumed to be a member function call).

### Endpoint
Not applicable (SDK function).

### Parameters
None specified.

### Request Example
```
rviz_visual_tools::RvizVisualTools::loadRvizMarkers();
```

### Response
None specified.
```

--------------------------------

### IMarkerSimpleDemo Constructor

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/classrviz__visual__tools_1_1IMarkerSimpleDemo.html

The constructor for the IMarkerSimpleDemo class. It initializes the demo.

```APIDOC
## IMarkerSimpleDemo()

### Description
Constructor.

### Method
IMarkerSimpleDemo

### Parameters
None

### Request Example
None

### Response Example
None
```

--------------------------------

### Publish XY, XZ, and YZ Planes

Source: https://docs.ros.org/en/noetic/api/rviz_visual_tools/html/rviz__visual__tools__demo_8cpp_source.html

This snippet demonstrates publishing three types of planes (XY, XZ, YZ) with varying sizes. The planes are displayed in a loop, with their X translation changing in each iteration.

```cpp
visual_tools_->publishXYPlane(pose1, rvt::RED, i * max_plane_size + min_plane_size);
visual_tools_->publishXZPlane(pose1, rvt::GREEN, i * max_plane_size + min_plane_size);
visual_tools_->publishYZPlane(pose1, rvt::BLUE, i * max_plane_size + min_plane_size);
if (i == 0.0)
{
  publishLabelHelper(pose1, "Planes");
}

pose1.translation().x() += step;
```
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