initial_pose_tool.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <tf/transform_listener.h>

#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include "rviz/display_context.h"
#include "rviz/properties/string_property.h"

#include "rviz/default_plugin/tools/initial_pose_tool.h"

namespace rviz
{

InitialPoseTool::InitialPoseTool()
{
  shortcut_key_ = 'p';

  topic_property_ = new StringProperty( "Topic", "initialpose",
                                        "The topic on which to publish initial pose estimates.",
                                        getPropertyContainer(), SLOT( updateTopic() ), this );
}

void InitialPoseTool::onInitialize()
{
  PoseTool::onInitialize();
  setName( "2D Pose Estimate" );
  updateTopic();
}

void InitialPoseTool::updateTopic()
{
  pub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>( topic_property_->getStdString(), 1 );
}

void InitialPoseTool::onPoseSet(double x, double y, double theta)
{
  std::string fixed_frame = context_->getFixedFrame().toStdString();
  geometry_msgs::PoseWithCovarianceStamped pose;
  pose.header.frame_id = fixed_frame;
  pose.pose.pose.position.x = x;
  pose.pose.pose.position.y = y;

  tf::Quaternion quat;
  quat.setRPY(0.0, 0.0, theta);
  tf::quaternionTFToMsg(quat,
                        pose.pose.pose.orientation);
  pose.pose.covariance[6*0+0] = 0.5 * 0.5;
  pose.pose.covariance[6*1+1] = 0.5 * 0.5;
  pose.pose.covariance[6*5+5] = M_PI/12.0 * M_PI/12.0;
  ROS_INFO("Setting pose: %.3f %.3f %.3f [frame=%s]", x, y, theta, fixed_frame.c_str());
  pub_.publish(pose);
}

} // end namespace rviz

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rviz::InitialPoseTool, rviz::Tool )