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00030 #ifndef RVIZ_INTERACTIVE_MARKER_DISPLAY_H
00031 #define RVIZ_INTERACTIVE_MARKER_DISPLAY_H
00032
00033 #include "rviz/default_plugin/interactive_markers/interactive_marker.h"
00034 #include "rviz/default_plugin/interactive_markers/interactive_marker_client.h"
00035
00036 #include "rviz/display.h"
00037 #include "rviz/selection/forwards.h"
00038 #include "rviz/properties/forwards.h"
00039
00040 #include <map>
00041 #include <set>
00042
00043 #include <visualization_msgs/InteractiveMarker.h>
00044 #include <visualization_msgs/InteractiveMarkerUpdate.h>
00045 #include <visualization_msgs/InteractiveMarkerInit.h>
00046
00047 #include <message_filters/subscriber.h>
00048 #include <tf/message_filter.h>
00049
00050 namespace Ogre
00051 {
00052 class SceneManager;
00053 class SceneNode;
00054 }
00055
00056 namespace rviz
00057 {
00058 class Object;
00059 }
00060
00061 namespace rviz
00062 {
00063
00064 class MarkerSelectionHandler;
00065 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr;
00066
00067 class MarkerBase;
00068 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
00069
00070 typedef std::pair<std::string, int32_t> MarkerID;
00071
00078 class InteractiveMarkerDisplay : public Display, public InteractiveMarkerReceiver
00079 {
00080 public:
00081 InteractiveMarkerDisplay();
00082 virtual ~InteractiveMarkerDisplay();
00083
00084 virtual void onInitialize();
00085
00086 virtual void update(float wall_dt, float ros_dt);
00087
00088 virtual void fixedFrameChanged();
00089 virtual void reset();
00090
00091 void setMarkerUpdateTopic(const std::string& topic);
00092 const std::string& getMarkerUpdateTopic() { return marker_update_topic_; }
00093
00094 virtual void createProperties();
00095
00096 bool getShowDescriptions() { return show_descriptions_; }
00097 void setShowDescriptions( bool show );
00098
00099 bool getShowToolTips() { return show_tool_tips_; }
00100 void setShowToolTips( bool show );
00101
00102 bool getShowAxes() { return show_axes_; }
00103 void setShowAxes( bool show );
00104
00106 void setStatusOk(const std::string& name, const std::string& text);
00107 void setStatusWarn(const std::string& name, const std::string& text);
00108 void setStatusError(const std::string& name, const std::string& text);
00109
00114 bool subscribeToInit();
00115
00116
00117 void clearMarkers();
00118
00119
00120 void processMarkerChanges( const std::vector<visualization_msgs::InteractiveMarker>* markers = NULL,
00121 const std::vector<visualization_msgs::InteractiveMarkerPose>* poses = NULL,
00122 const std::vector<std::string>* erases = NULL );
00123
00124 void unsubscribeFromInit();
00125
00127 virtual void hideVisible();
00128
00130 virtual void restoreVisible();
00131
00132 protected:
00133
00134 virtual void onEnable();
00135 virtual void onDisable();
00136
00137
00138 void subscribe();
00139
00140
00141 void unsubscribe();
00142
00143
00144 void tfMarkerSuccess(const visualization_msgs::InteractiveMarker::ConstPtr& marker);
00145
00146
00147 void tfMarkerFail(const visualization_msgs::InteractiveMarker::ConstPtr& marker, tf::FilterFailureReason reason);
00148
00149
00150 void tfPoseSuccess(const visualization_msgs::InteractiveMarkerPose::ConstPtr& marker_pose);
00151
00152
00153 void tfPoseFail(const visualization_msgs::InteractiveMarkerPose::ConstPtr& marker_pose, tf::FilterFailureReason reason);
00154
00155 void updateMarker( visualization_msgs::InteractiveMarker::ConstPtr& marker );
00156 void updatePose( visualization_msgs::InteractiveMarkerPose::ConstPtr& pose );
00157
00158 InteractiveMarkerClient im_client_;
00159
00160
00161 Ogre::SceneNode* scene_node_;
00162
00163 typedef boost::shared_ptr<InteractiveMarker> InteractiveMarkerPtr;
00164 typedef std::map< std::string, InteractiveMarkerPtr > M_StringToInteractiveMarkerPtr;
00165 M_StringToInteractiveMarkerPtr interactive_markers_;
00166
00167
00168
00169 tf::MessageFilter<visualization_msgs::InteractiveMarker>* tf_filter_;
00170 tf::MessageFilter<visualization_msgs::InteractiveMarkerPose>* tf_pose_filter_;
00171
00172 ros::Subscriber marker_update_sub_;
00173 ros::Subscriber marker_init_sub_;
00174
00175
00176 typedef std::vector<visualization_msgs::InteractiveMarker::ConstPtr> V_InteractiveMarkerMessage;
00177 V_InteractiveMarkerMessage marker_queue_;
00178 typedef std::vector<visualization_msgs::InteractiveMarkerPose::ConstPtr> V_InteractiveMarkerPoseMessage;
00179 V_InteractiveMarkerPoseMessage pose_queue_;
00180 boost::mutex queue_mutex_;
00181
00182 unsigned num_publishers_;
00183
00184 std::string client_id_;
00185
00186
00187
00188 std::string marker_update_topic_;
00189 ROSTopicStringPropertyWPtr marker_update_topic_property_;
00190
00191 bool show_descriptions_;
00192 BoolPropertyWPtr show_descriptions_property_;
00193
00194 bool show_tool_tips_;
00195 BoolPropertyWPtr show_tool_tips_property_;
00196
00197 bool show_axes_;
00198 BoolPropertyWPtr show_axes_property_;
00199
00200 };
00201
00202 }
00203
00204 #endif