Program Listing for File move_base_plugin.h
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#ifndef MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
#define MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_
// C++ standard libraries
#include <string>
#include <vector>
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>
// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
// Mapviz libraries
#include <mapviz/map_canvas.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
// QT autogenerated files
#include "ui_move_base_config.h"
namespace mapviz_plugins
{
class MoveBasePlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
MoveBasePlugin();
virtual ~MoveBasePlugin();
bool Initialize(QGLWidget* canvas);
void Shutdown() {}
void Draw(double x, double y, double scale);
void Paint(QPainter* painter, double x, double y, double scale) {}
void Transform() {}
void LoadConfig(const YAML::Node& node, const std::string& path);
void SaveConfig(YAML::Emitter& emitter, const std::string& path);
QWidget* GetConfigWidget(QWidget* parent);
protected:
virtual void PrintError(const std::string& message) override;
virtual void PrintInfo(const std::string& message) override;
virtual void PrintWarning(const std::string& message) override;
virtual bool eventFilter(QObject *object, QEvent* event) override;
void timerCallback(const ros::TimerEvent& ev = ros::TimerEvent() );
bool handleMousePress(QMouseEvent *);
bool handleMouseRelease(QMouseEvent *);
bool handleMouseMove(QMouseEvent *);
private Q_SLOTS:
void on_pushButtonInitialPose_toggled(bool checked);
void on_pushButtonGoalPose_toggled(bool checked);
void on_pushButtonAbort_clicked();
private:
Ui::move_base_config ui_;
QWidget* config_widget_;
mapviz::MapCanvas* map_canvas_;
ros::NodeHandle nh_;
ros::Publisher init_pose_pub_;
bool is_mouse_down_;
QPointF arrow_tail_position_;
float arrow_angle_;
MoveBaseClient move_base_client_;
move_base_msgs::MoveBaseAction move_base_msg_;
ros::Timer timer_;
bool monitoring_action_state_;
};
}
#endif // MAPVIZ_PLUGINS_PLAN_ROUTE_PLUGIN_H_