rxbag_plugin.py

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# Author: Tim Field

PKG = 'tf2_visualization'
import roslib; roslib.load_manifest(PKG)

import wx

from rxbag import bag_helper, TopicMessageView

def get_rxbag_plugins():
    return [(FrameViewerView, None, ['tf/tfMessage'])]

from tf2_visualization.frame_viewer_panel import FrameViewerPanel
from tf2_visualization.tf_interface       import TFInterface

class FrameViewerView(TopicMessageView):
    name = 'Frame Viewer'

    def __init__(self, timeline, parent):
        TopicMessageView.__init__(self, timeline, parent)

        self.tf_interface  = TFInterface(use_listener=False)
        self.viewer        = FrameViewerPanel(self.parent, self.tf_interface, False)
        self.buffer_length = roslib.rostime.Duration(10.0)

    def message_viewed(self, bag, msg_details):
        TopicMessageView.message_viewed(self, bag, msg_details)

        topic, _, t = msg_details[:3]

        tf_entries = list(self.timeline.get_entries_with_bags(topic, t - self.buffer_length, t))
        self.tf_interface.buffer.clear()
        for bag, entry in tf_entries:
            _, msg, msg_stamp = self.timeline.read_message(bag, entry.position)
            for transform in msg.transforms:
                self.tf_interface.buffer.set_transform(transform, '')
        self.tf_interface.set_data_timestamp(t.to_sec())

    def message_cleared(self):
        TopicMessageView.message_cleared(self)

        self.tf_interface.buffer.clear()