Program Listing for File occupancy_map_display.hpp
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// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2018, Bosch Software Innovations GmbH. All rights reserved.
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#ifndef OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_
#define OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_
#include <memory>
#include <string>
#include <vector>
#ifndef Q_MOC_RUN
#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <OgreVector3.h>
#include <OgreSharedPtr.h>
#endif // Q_MOC_RUN
#include "nav_msgs/msg/map_meta_data.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "map_msgs/msg/occupancy_grid_update.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/qos.hpp"
#include "octomap_msgs/msg/octomap.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/displays/map/swatch.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace Ogre
{
class ManualObject;
}
namespace rviz_common
{
namespace properties
{
class EnumProperty;
class FloatProperty;
class IntProperty;
class Property;
class QuaternionProperty;
class VectorProperty;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
namespace displays
{
class AlphaSetter;
}
}
namespace octomap_rviz_plugins
{
using rviz_default_plugins::displays::Swatch;
static constexpr std::size_t MAX_OCTREE_DEPTH = sizeof(uint16_t) * 8;
class OccupancyMapDisplay : public
rviz_common::MessageFilterDisplay<octomap_msgs::msg::Octomap>
{
Q_OBJECT
public:
// TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call
// initialize() instead
explicit OccupancyMapDisplay(rviz_common::DisplayContext * context);
OccupancyMapDisplay();
~OccupancyMapDisplay() override;
void onInitialize() override;
void fixedFrameChanged() override;
void reset() override;
float getResolution() {return resolution_;}
size_t getWidth() {return width_;}
size_t getHeight() {return height_;}
public Q_SLOTS:
void showMap();
Q_SIGNALS:
void mapUpdated();
protected Q_SLOTS:
void updateAlpha();
void updateDrawUnder() const;
void updatePalette();
void updateTreeDepth();
void transformMap();
void updateMapUpdateTopic();
protected:
void updateTopic() override;
void update(float wall_dt, float ros_dt) override;
void subscribe() override;
void unsubscribe() override;
void onEnable() override;
void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);
bool updateDataOutOfBounds(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const;
void updateMapDataInMemory(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);
void clear();
void subscribeToUpdateTopic();
void unsubscribeToUpdateTopic();
void showValidMap();
void resetSwatchesIfNecessary(size_t width, size_t height, float resolution);
void createSwatches();
void doubleSwatchNumber(
size_t & swatch_width, size_t & swatch_height,
int & number_swatches) const;
void tryCreateSwatches(
size_t width,
size_t height,
float resolution,
size_t swatch_width,
size_t swatch_height,
int number_swatches);
size_t getEffectiveDimension(size_t map_dimension, size_t swatch_dimension, size_t position);
void updateSwatches() const;
std::vector<std::shared_ptr<Swatch>> swatches_;
std::vector<Ogre::TexturePtr> palette_textures_;
std::vector<bool> color_scheme_transparency_;
bool loaded_;
float resolution_;
size_t width_;
size_t height_;
std::string frame_;
nav_msgs::msg::OccupancyGrid current_map_;
rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_subscription_;
rclcpp::QoS update_profile_;
rviz_common::properties::RosTopicProperty * update_topic_property_;
rviz_common::properties::QosProfileProperty * update_profile_property_;
rviz_common::properties::FloatProperty * resolution_property_;
rviz_common::properties::IntProperty * width_property_;
rviz_common::properties::IntProperty * height_property_;
rviz_common::properties::VectorProperty * position_property_;
rviz_common::properties::QuaternionProperty * orientation_property_;
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::Property * draw_under_property_;
rviz_common::properties::EnumProperty * color_scheme_property_;
rviz_common::properties::BoolProperty * transform_timestamp_property_;
rviz_common::properties::IntProperty * tree_depth_property_;
uint32_t update_messages_received_;
uint32_t octree_depth_{MAX_OCTREE_DEPTH};
};
template<typename OcTreeType>
class TemplatedOccupancyMapDisplay : public OccupancyMapDisplay
{
protected:
void processMessage(const octomap_msgs::msg::Octomap::ConstSharedPtr msg) override;
};
} // namespace octomap_rviz_plugins
#endif // OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_