initial_pose_tool.cpp
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00001 /*
00002  * Copyright (c) 2012, 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 <tf/transform_listener.h>
00031 
00032 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00033 
00034 #include "rviz/display_context.h"
00035 #include "rviz/properties/string_property.h"
00036 
00037 #include "rviz/default_plugin/tools/initial_pose_tool.h"
00038 
00039 namespace rviz
00040 {
00041 
00042 InitialPoseTool::InitialPoseTool()
00043 {
00044   shortcut_key_ = 'p';
00045 
00046   topic_property_ = new StringProperty( "Topic", "initialpose",
00047                                         "The topic on which to publish initial pose estimates.",
00048                                         getPropertyContainer(), SLOT( updateTopic() ), this );
00049 }
00050 
00051 void InitialPoseTool::onInitialize()
00052 {
00053   PoseTool::onInitialize();
00054   setName( "2D Pose Estimate" );
00055   updateTopic();
00056 }
00057 
00058 void InitialPoseTool::updateTopic()
00059 {
00060   pub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>( topic_property_->getStdString(), 1 );
00061 }
00062 
00063 void InitialPoseTool::onPoseSet(double x, double y, double theta)
00064 {
00065   std::string fixed_frame = context_->getFixedFrame().toStdString();
00066   geometry_msgs::PoseWithCovarianceStamped pose;
00067   pose.header.frame_id = fixed_frame;
00068   pose.header.stamp = ros::Time::now();
00069   pose.pose.pose.position.x = x;
00070   pose.pose.pose.position.y = y;
00071 
00072   tf::Quaternion quat;
00073   quat.setRPY(0.0, 0.0, theta);
00074   tf::quaternionTFToMsg(quat,
00075                         pose.pose.pose.orientation);
00076   pose.pose.covariance[6*0+0] = 0.5 * 0.5;
00077   pose.pose.covariance[6*1+1] = 0.5 * 0.5;
00078   pose.pose.covariance[6*5+5] = M_PI/12.0 * M_PI/12.0;
00079   ROS_INFO("Setting pose: %.3f %.3f %.3f [frame=%s]", x, y, theta, fixed_frame.c_str());
00080   pub_.publish(pose);
00081 }
00082 
00083 } // end namespace rviz
00084 
00085 #include <pluginlib/class_list_macros.h>
00086 PLUGINLIB_EXPORT_CLASS( rviz::InitialPoseTool, rviz::Tool )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Tue Oct 3 2017 03:19:30