pose_array_display.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#include "pose_array_display.h"
#include "rviz/visualization_manager.h"
#include "rviz/properties/property.h"
#include "rviz/properties/property_manager.h"
#include "rviz/frame_manager.h"
#include "rviz/validate_floats.h"

#include "rviz/ogre_helpers/arrow.h"

#include <tf/transform_listener.h>

#include <boost/bind.hpp>

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreManualObject.h>

namespace rviz
{

PoseArrayDisplay::PoseArrayDisplay()
  : Display()
  , color_( 1.0f, 0.1f, 0.0f )
  , length_( 0.3 )
  , messages_received_(0)
{
}

PoseArrayDisplay::~PoseArrayDisplay()
{
  unsubscribe();
  clear();

  scene_manager_->destroyManualObject( manual_object_ );
  delete tf_filter_;
}

void PoseArrayDisplay::onInitialize()
{
  tf_filter_ = new tf::MessageFilter<geometry_msgs::PoseArray>(*vis_manager_->getTFClient(), "", 2, update_nh_);
  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();

  static int count = 0;
  std::stringstream ss;
  ss << "ParticleCloud2D" << count++;
  manual_object_ = scene_manager_->createManualObject( ss.str() );
  manual_object_->setDynamic( true );
  scene_node_->attachObject( manual_object_ );

  tf_filter_->connectInput(sub_);
  tf_filter_->registerCallback(boost::bind(&PoseArrayDisplay::incomingMessage, this, _1));
  vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
}

void PoseArrayDisplay::clear()
{
  manual_object_->clear();

  messages_received_ = 0;
  setStatus(status_levels::Warn, "Topic", "No messages received");
}

void PoseArrayDisplay::setTopic( const std::string& topic )
{
  unsubscribe();

  topic_ = topic;

  subscribe();

  propertyChanged(topic_property_);

  causeRender();
}

void PoseArrayDisplay::setColor( const Color& color )
{
  color_ = color;

  propertyChanged(color_property_);

  causeRender();
}

void PoseArrayDisplay::setLength( float length )
{
  length_ = length;
  propertyChanged( length_property_ );
  causeRender();
}

void PoseArrayDisplay::subscribe()
{
  if ( !isEnabled() )
  {
    return;
  }

  try
  {
    sub_.subscribe(update_nh_, topic_, 5);
    setStatus(status_levels::Ok, "Topic", "OK");
  }
  catch (ros::Exception& e)
  {
    setStatus(status_levels::Error, "Topic", std::string("Error subscribing: ") + e.what());
  }
}

void PoseArrayDisplay::unsubscribe()
{
  sub_.unsubscribe();
}

void PoseArrayDisplay::onEnable()
{
  scene_node_->setVisible( true );
  subscribe();
}

void PoseArrayDisplay::onDisable()
{
  unsubscribe();
  clear();
  scene_node_->setVisible( false );
}

void PoseArrayDisplay::createProperties()
{
  topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &PoseArrayDisplay::getTopic, this ),
                                                                                boost::bind( &PoseArrayDisplay::setTopic, this, _1 ), parent_category_, this );
  setPropertyHelpText(topic_property_, "geometry_msgs::PoseArray topic to subscribe to.");
  ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
  topic_prop->setMessageType(ros::message_traits::datatype<geometry_msgs::PoseArray>());

  color_property_ = property_manager_->createProperty<ColorProperty>( "Color", property_prefix_, boost::bind( &PoseArrayDisplay::getColor, this ),
                                                                          boost::bind( &PoseArrayDisplay::setColor, this, _1 ), parent_category_, this );
  setPropertyHelpText(color_property_, "Color to draw the arrows.");

  length_property_ = property_manager_->createProperty<FloatProperty>( "Arrow Length", property_prefix_, boost::bind( &PoseArrayDisplay::getLength, this ),
                                                                      boost::bind( &PoseArrayDisplay::setLength, this, _1 ), parent_category_, this );
  setPropertyHelpText(length_property_, "Length of the arrows.");
}

void PoseArrayDisplay::fixedFrameChanged()
{
  clear();
  tf_filter_->setTargetFrame( fixed_frame_ );
}

void PoseArrayDisplay::update(float wall_dt, float ros_dt)
{
}

bool validateFloats(const geometry_msgs::PoseArray& msg)
{
  return validateFloats(msg.poses);
}

void PoseArrayDisplay::processMessage(const geometry_msgs::PoseArray::ConstPtr& msg)
{
  ++messages_received_;

  if (!validateFloats(*msg))
  {
    setStatus(status_levels::Error, "Topic", "Message contained invalid floating point values (nans or infs)");
    return;
  }

  {
    std::stringstream ss;
    ss << messages_received_ << " messages received";
    setStatus(status_levels::Ok, "Topic", ss.str());
  }

  manual_object_->clear();

  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  if (!vis_manager_->getFrameManager()->getTransform(msg->header, position, orientation))
  {
    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), fixed_frame_.c_str() );
  }

  scene_node_->setPosition( position );
  scene_node_->setOrientation( orientation );

  manual_object_->clear();

  Ogre::ColourValue color( color_.r_, color_.g_, color_.b_, 1.0f );
  size_t num_poses = msg->poses.size();
  manual_object_->estimateVertexCount( num_poses * 6 );
  manual_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST );
  for( size_t i=0; i < num_poses; ++i)
  {
    Ogre::Vector3 pos(msg->poses[i].position.x, msg->poses[i].position.y, msg->poses[i].position.z);
    tf::Quaternion quat;
    tf::quaternionMsgToTF(msg->poses[i].orientation, quat);
    Ogre::Quaternion orient( quat.w(), quat.x(), quat.y(), quat.z() );
    // orient here is not normalized, so the scale of the quaternion
    // will affect the scale of the arrow.

    Ogre::Vector3 vertices[6];
    vertices[0] = pos; // back of arrow
    vertices[1] = pos + orient * Ogre::Vector3(length_, 0, 0); // tip of arrow
    vertices[2] = vertices[1];
    vertices[3] = pos + orient * Ogre::Vector3(0.75*length_, 0.2*length_, 0);
    vertices[4] = vertices[1];
    vertices[5] = pos + orient * Ogre::Vector3(0.75*length_, -0.2*length_, 0);

    for ( int i = 0; i < 6; ++i )
    {
      manual_object_->position( vertices[i] );
      manual_object_->colour( color );
    }
  }
  manual_object_->end();

  causeRender();
}

void PoseArrayDisplay::incomingMessage(const geometry_msgs::PoseArray::ConstPtr& msg)
{
  processMessage(msg);
}

void PoseArrayDisplay::reset()
{
  Display::reset();
  clear();
}

} // namespace rviz