marker_array_display.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "rviz/properties/ros_topic_property.h"
00031 #include "rviz/properties/int_property.h"
00032 
00033 #include "marker_array_display.h"
00034 
00035 namespace rviz
00036 {
00037 
00038 MarkerArrayDisplay::MarkerArrayDisplay()
00039   : MarkerDisplay()
00040 {
00041   marker_topic_property_->setMessageType( QString::fromStdString( ros::message_traits::datatype<visualization_msgs::MarkerArray>() ));
00042   marker_topic_property_->setValue( "visualization_marker_array" );
00043   marker_topic_property_->setDescription( "visualization_msgs::MarkerArray topic to subscribe to." );
00044 
00045   queue_size_property_->setDescription( "Advanced: set the size of the incoming Marker message queue. "
00046                                         " This should generally be at least a few times larger than the number of Markers in each MarkerArray." );
00047 }
00048 
00049 void MarkerArrayDisplay::subscribe()
00050 {
00051   if ( !isEnabled() )
00052   {
00053     return;
00054   }
00055 
00056   std::string topic = marker_topic_property_->getTopicStd();
00057   if( !topic.empty() )
00058   {
00059     array_sub_.shutdown();
00060 
00061     try
00062     {
00063       array_sub_ = update_nh_.subscribe( topic, queue_size_property_->getInt(), &MarkerArrayDisplay::handleMarkerArray, this );
00064       setStatus( StatusProperty::Ok, "Topic", "OK" );
00065     }
00066     catch( ros::Exception& e )
00067     {
00068       setStatus( StatusProperty::Error, "Topic", QString( "Error subscribing: " ) + e.what() );
00069     }
00070   }
00071 }
00072 
00073 void MarkerArrayDisplay::unsubscribe()
00074 {
00075   array_sub_.shutdown();
00076 }
00077 
00078 // I seem to need this wrapper function to make the compiler like my
00079 // function pointer in the .subscribe() call above.
00080 void MarkerArrayDisplay::handleMarkerArray( const visualization_msgs::MarkerArray::ConstPtr& array )
00081 {
00082   incomingMarkerArray( array );
00083 }
00084 
00085 } // end namespace rviz
00086 
00087 #include <pluginlib/class_list_macros.h>
00088 PLUGINLIB_EXPORT_CLASS( rviz::MarkerArrayDisplay, rviz::Display )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:15