jumping interactive marker

[rhaschke]

Using a MOVE_ROTATE_3D control for an interactive marker and defining the marker relative to a non-root frame and defining it frame-locked, will make the marker jump (by the inverse transform from root frame to ref frame) as soon as the this control is used. Other controls defined for the same interactive marker, behave correctly.

The behavior can be reproduced with the following changes to interactive_marker_tutorials/src/simple_marker.cpp:

diff --git a/interactive_marker_tutorials/src/simple_marker.cpp b/interactive_marker_tutorials/src/simple_marker.cpp
index bc7c758..172aec6 100644
--- a/interactive_marker_tutorials/src/simple_marker.cpp
+++ b/interactive_marker_tutorials/src/simple_marker.cpp
@@ -50,8 +50,8 @@ int main(int argc, char** argv)

   // create an interactive marker for our server
   visualization_msgs::InteractiveMarker int_marker;
-  int_marker.header.frame_id = "base_link";
-  int_marker.header.stamp=ros::Time::now();
+  int_marker.header.frame_id = "tool0";
+// make it frame-locked! int_marker.header.stamp=ros::Time::now();
   int_marker.name = "my_marker";
   int_marker.description = "Simple 1-DOF Control";

@@ -70,6 +70,7 @@ int main(int argc, char** argv)
   visualization_msgs::InteractiveMarkerControl box_control;
   box_control.always_visible = true;
   box_control.markers.push_back( box_marker );
+  box_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D;

   // add the control to the interactive marker
   int_marker.controls.push_back( box_control );

This issue was reported before here.

[rhaschke]

Even more easily, the error can be reproduced with the standard basic_controls example,
simply defining the reference frame base_link as a non-root frame in rviz.