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_