Program Listing for File imarker_simple.hpp
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// Copyright 2021 PickNik Inc.
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/* Author: Dave Coleman
Desc: Use interactive markers in a C++ class
*/
#pragma once
// ROS
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <interactive_markers/interactive_marker_server.hpp>
#include <utility>
#include <visualization_msgs/msg/interactive_marker_feedback.hpp>
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <interactive_markers/menu_handler.hpp>
#include <Eigen/Geometry>
// C++
#include <string>
namespace rviz_visual_tools
{
typedef std::function<void(
const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr&)>
IMarkerCallback;
namespace
{
geometry_msgs::msg::Pose getIdentityPose()
{
geometry_msgs::msg::Pose pose;
pose.orientation.w = 1.0;
return pose;
}
} // namespace
class IMarkerSimple
{
public:
template <typename NodePtr>
IMarkerSimple(NodePtr node, const std::string& imarker_topic_name = "imarker", double scale = 0.2,
const geometry_msgs::msg::Pose& initial_pose = getIdentityPose(),
const std::string& parent_frame = "world",
const rclcpp::QoS& update_pub_qos = rclcpp::QoS(1),
const rclcpp::QoS& feedback_sub_qos = rclcpp::QoS(1))
: IMarkerSimple(node->get_node_base_interface(), node->get_node_clock_interface(),
node->get_node_logging_interface(), node->get_node_topics_interface(),
node->get_node_services_interface(), imarker_topic_name, scale, initial_pose,
parent_frame)
{
}
IMarkerSimple(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr& node_base_interface,
const rclcpp::node_interfaces::NodeClockInterface::SharedPtr& clock_interface,
const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr& logging_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr& topics_interface,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr& services_interface,
const std::string& imarker_topic_name = "imarker", double scale = 0.2,
const geometry_msgs::msg::Pose& initial_pose = getIdentityPose(),
const std::string& parent_frame = "world",
const rclcpp::QoS& update_pub_qos = rclcpp::QoS(1),
const rclcpp::QoS& feedback_sub_qos = rclcpp::QoS(1));
geometry_msgs::msg::Pose& getPose();
void setPose(const Eigen::Isometry3d& pose);
void setPose(const geometry_msgs::msg::Pose& pose);
void iMarkerCallback(
const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback);
void setIMarkerCallback(IMarkerCallback callback)
{
imarker_callback_ = std::move(callback);
}
private:
void sendUpdatedIMarkerPose();
void make6DofMarker(const geometry_msgs::msg::Pose& pose = getIdentityPose(), double scale = 0.2,
const std::string& parent_frame = "world");
// --------------------------------------------------------
// Node Interfaces
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface_;
rclcpp::Logger logger_;
geometry_msgs::msg::Pose latest_pose_;
// Interactive markers
std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;
// Interactive markers
// interactive_markers::MenuHandler menu_handler_;
visualization_msgs::msg::InteractiveMarker int_marker_;
// The int_marker_.id
static const std::string IMARKER_NAME; // "imarker_simple";
// Hook to parent class
IMarkerCallback imarker_callback_;
}; // end class
// Create std pointers for this class
typedef std::shared_ptr<IMarkerSimple> IMarkerSimplePtr;
typedef std::shared_ptr<const IMarkerSimple> IMarkerSimpleConstPtr;
} // namespace rviz_visual_tools