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00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "pr2_interactive_manipulation/point_head_camera_display.h" 00031 00032 #include <rviz/visualization_manager.h> 00033 #include <rviz/render_panel.h> 00034 #include <rviz/properties/property.h> 00035 #include <rviz/properties/property_manager.h> 00036 00037 #include <pr2_controllers_msgs/PointHeadAction.h> 00038 00039 00040 namespace pr2_interactive_manipulation 00041 { 00042 00043 PointHeadCameraDisplay::PointHeadCameraDisplay( const std::string& name, rviz::VisualizationManager* manager ) : 00044 rviz::CameraDisplay( name, manager ) 00045 { 00046 //assign a PointHeadViewController to our render panel, 00047 //so it receives the mouse events while the "Move Camera" tool is active 00048 point_head_view_controller_ = new PointHeadViewController( texture_, manager, name ); 00049 render_panel_->setViewController( point_head_view_controller_ ); 00050 00051 setPointHeadTopic( "/head_traj_controller/point_head_action/goal" ); 00052 } 00053 00054 PointHeadCameraDisplay::~PointHeadCameraDisplay() 00055 { 00056 //point_head_view_controller_ will be deleted by render_panel_ 00057 } 00058 00059 void PointHeadCameraDisplay::createProperties() 00060 { 00061 point_head_topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( 00062 "Point Head Action Topic", property_prefix_, 00063 boost::bind( &PointHeadCameraDisplay::getPointHeadTopic, this ), 00064 boost::bind( &PointHeadCameraDisplay::setPointHeadTopic, this, _1 ), 00065 parent_category_, this ); 00066 setPropertyHelpText(point_head_topic_property_, "Action topic where to send the point head commands to."); 00067 rviz::ROSTopicStringPropertyPtr topic_prop = point_head_topic_property_.lock(); 00068 topic_prop->setMessageType(ros::message_traits::datatype< pr2_controllers_msgs::PointHeadActionGoal >()); 00069 00070 CameraDisplay::createProperties(); 00071 } 00072 00073 void PointHeadCameraDisplay::setPointHeadTopic(const std::string& topic) 00074 { 00075 point_head_view_controller_->setTopic( topic ); 00076 propertyChanged(point_head_topic_property_); 00077 } 00078 00079 const std::string& PointHeadCameraDisplay::getPointHeadTopic() 00080 { 00081 return point_head_view_controller_->getTopic(); 00082 } 00083 00084 }