Class for visualizing waypoints as interactive markers in RViz and handling their interaction. More...

#include <WaypointFollowingVisualization.h>

Public Member Functions
	WaypointFollowingVisualization ()

	~WaypointFollowingVisualization ()

Private Member Functions
void	addWaypointMarkerToServer (int waypoint_pos)

void	periodicalRefreshTimerCallback (const ros::TimerEvent &event)

void	processFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	removeWaypoint (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	setWaypointRoutine (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	timerCallback (const ros::TimerEvent &event)

bool	waypointArrayChanged (const rsm_msgs::WaypointArray::ConstPtr &waypoint_array)

void	waypointCallback (const rsm_msgs::WaypointArray::ConstPtr &waypoint_array)

Detailed Description

Class for visualizing waypoints as interactive markers in RViz and handling their interaction.

Definition at line 19 of file WaypointFollowingVisualization.h.

Constructor & Destructor Documentation

rsm::WaypointFollowingVisualization::WaypointFollowingVisualization ( )

Constructor

Definition at line 5 of file WaypointFollowingVisualization.cpp.

rsm::WaypointFollowingVisualization::~WaypointFollowingVisualization ( )

Desctructor

Definition at line 31 of file WaypointFollowingVisualization.cpp.

Member Function Documentation

void rsm::WaypointFollowingVisualization::addWaypointMarkerToServer ( int waypoint_pos )

private

Draws the interactive marker for the waypoints with position waypoint_pos in the waypoint array

Parameters

waypoint_pos Position in the waypoint array of the waypoint to visualize

Definition at line 85 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::periodicalRefreshTimerCallback ( const ros::TimerEvent & event )

private

Timer callback for periodically refreshing the displayed markers

Parameters

event Timer event

Definition at line 198 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::processFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Method being called when moving the marker and changing it's position in the array calling ServiceProvider's service

Parameters

feedback

Definition at line 34 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::removeWaypoint ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Method being called when selecting delete from the marker's menu, deletes the waypoint from the array calling ServiceProvider's service

Parameters

feedback Feedback object generated from click

Definition at line 46 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::setWaypointRoutine ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

private

Method being called when selecting a routine from the marker's menu, changes the routine for the respective waypoint from the array calling ServiceProvider's service

Parameters

feedback Feedback object generated from click

Definition at line 57 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::timerCallback ( const ros::TimerEvent & event )

private

Timer callback for one-shot timer to initialize the menu handler with a delay, so the ServiceProvider's services will be available

Parameters

event Timer event

Definition at line 158 of file WaypointFollowingVisualization.cpp.

bool rsm::WaypointFollowingVisualization::waypointArrayChanged ( const rsm_msgs::WaypointArray::ConstPtr & waypoint_array )

private

Compare if waypoints send from the ServiceProvider match the ones here regarding array length, routine, visited- and unreachable-status.

Parameters

waypoint_array received from ServiceProvider

Returns: True if the waypoint array has changed, false otherwise

Definition at line 179 of file WaypointFollowingVisualization.cpp.

void rsm::WaypointFollowingVisualization::waypointCallback ( const rsm_msgs::WaypointArray::ConstPtr & waypoint_array )

private

Callback for receiving the waypoint array published by the ServiceProvider

Parameters

waypoint_array

Definition at line 72 of file WaypointFollowingVisualization.cpp.

Member Data Documentation

ros::ServiceClient rsm::WaypointFollowingVisualization::_get_waypoint_routines_client

private

Definition at line 93 of file WaypointFollowingVisualization.h.

interactive_markers::MenuHandler rsm::WaypointFollowingVisualization::_menu_handler

private

Definition at line 86 of file WaypointFollowingVisualization.h.

ros::ServiceClient rsm::WaypointFollowingVisualization::_move_waypoint_client

private

Definition at line 90 of file WaypointFollowingVisualization.h.

ros::Timer rsm::WaypointFollowingVisualization::_periodical_refresh_timer

private

Timer to periodically refresh the drawn markers to synchronize with the waypoint array in case of high system load

Definition at line 114 of file WaypointFollowingVisualization.h.

bool rsm::WaypointFollowingVisualization::_refresh_waypoint_markers

private

If the waypoint markers should be redrawn on the next callback

Definition at line 106 of file WaypointFollowingVisualization.h.

ros::ServiceClient rsm::WaypointFollowingVisualization::_remove_waypoint_client

private

Definition at line 91 of file WaypointFollowingVisualization.h.

interactive_markers::MenuHandler::EntryHandle rsm::WaypointFollowingVisualization::_routine_switch_handler

private

Definition at line 87 of file WaypointFollowingVisualization.h.

ros::Timer rsm::WaypointFollowingVisualization::_service_call_delay_timer

private

Timer to call menu handle initialization with a delay so ServiceProvider's services will be available

Definition at line 110 of file WaypointFollowingVisualization.h.

ros::ServiceClient rsm::WaypointFollowingVisualization::_set_waypoint_routine_client

private

Definition at line 92 of file WaypointFollowingVisualization.h.

std::vector<std::string> rsm::WaypointFollowingVisualization::_waypoint_routines

private

List of all available waypoint routines

Definition at line 102 of file WaypointFollowingVisualization.h.

interactive_markers::InteractiveMarkerServer rsm::WaypointFollowingVisualization::_waypoint_server

private

Definition at line 85 of file WaypointFollowingVisualization.h.

ros::Subscriber rsm::WaypointFollowingVisualization::_waypoint_subscriber

private

Definition at line 89 of file WaypointFollowingVisualization.h.

rsm_msgs::WaypointArray rsm::WaypointFollowingVisualization::_waypoints

private

Waypoint array

Definition at line 98 of file WaypointFollowingVisualization.h.

The documentation for this class was generated from the following files:

Private Attributes
ros::ServiceClient	_get_waypoint_routines_client

interactive_markers::MenuHandler	_menu_handler

ros::ServiceClient	_move_waypoint_client

ros::Timer	_periodical_refresh_timer

bool	_refresh_waypoint_markers

ros::ServiceClient	_remove_waypoint_client

interactive_markers::MenuHandler::EntryHandle	_routine_switch_handler

ros::Timer	_service_call_delay_timer

ros::ServiceClient	_set_waypoint_routine_client

std::vector< std::string >	_waypoint_routines

interactive_markers::InteractiveMarkerServer	_waypoint_server

ros::Subscriber	_waypoint_subscriber

rsm_msgs::WaypointArray	_waypoints

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation