Displays Interactive Markers. More...

#include <interactive_marker_display.h>

Inheritance diagram for rviz::InteractiveMarkerDisplay:

Public Member Functions
void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

	InteractiveMarkerDisplay ()

void	onInitialize () override
	Override this function to do subclass-specific initialization. More...

void	reset () override
	Called to tell the display to clear its state. More...

void	setTopic (const QString &topic, const QString &datatype) override
	Set the ROS topic to listen to for this display. More...

void	update (float wall_dt, float ros_dt) override
	Called periodically by the visualization manager. More...

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)
	Delete the status entry with the given name. This is thread-safe. More...

void	deleteStatusStd (const std::string &name)
	Delete the status entry with the given std::string name. This is thread-safe. More...

	Display ()

void	emitTimeSignal (ros::Time time)
	Emit a time signal that other Displays can synchronize to. More...

QWidget *	getAssociatedWidget () const
	Return the current associated widget, or NULL if there is none. More...

PanelDockWidget *	getAssociatedWidgetPanel ()
	Return the panel containing the associated widget, or NULL if there is none. More...

virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...

Ogre::SceneNode *	getSceneNode () const
	Return the Ogre::SceneNode holding all 3D scene elements shown by this Display. More...

QVariant	getViewData (int column, int role) const override
	Return data appropriate for the given column (0 or 1) and role for this Display. More...

Qt::ItemFlags	getViewFlags (int column) const override
	Return item flags appropriate for the given column (0 or 1) for this Display. More...

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)
	Main initialization, called after constructor, before load() or setEnabled(). More...

bool	isEnabled () const
	Return true if this Display is enabled, false if not. More...

void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...

void	save (Config config) const override
	Write this display to the given Config node. More...

void	setAssociatedWidget (QWidget *widget)
	Associate the given widget with this Display. More...

virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...

void	setFixedFrame (const QString &fixed_frame)
	Set the fixed frame in this display. More...

void	setName (const QString &name) override
	Overridden from Property to set associated widget title to the new name. More...

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)
	Show status level and text. This is thread-safe. More...

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)
	Show status level and text, using a std::string. Convenience function which converts std::string to QString and calls setStatus(). This is thread-safe. More...

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

	~Display () override

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)

virtual bool	getBool () const

bool	getDisableChildren () override
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...

Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...

virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...

virtual void	collapse ()
	Collapse (hide the children of) this Property. More...

bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...

virtual void	expand ()
	Expand (show the children of) this Property. More...

virtual QString	getDescription () const
	Return the description. More...

virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...

virtual QString	getName () const
	Return the name of this Property as a QString. More...

std::string	getNameStd () const
	Return the name of this Property as a std::string. More...

Property *	getParent () const
	Return the parent Property. More...

virtual bool	getReadOnly ()
	Return the read-only-ness of this property. More...

virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...

void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...

void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...

bool	isAncestorOf (Property *possible_child) const
	Returns true if `this` is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...

virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...

virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...

	Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property parent=nullptr, const char changed_slot=nullptr, QObject *receiver=nullptr)
	Constructor. More...

virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...

int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...

virtual void	setDescription (const QString &description)
	Set the description. More...

virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...

virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...

void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...

void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...

virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...

void	setShouldBeSaved (bool save)
	If save is true and getReadOnly() is false, shouldBeSaved will return true; otherwise false. Default is true. More...

virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...

bool	shouldBeSaved () const
	Returns true if the property is not read-only AND has data worth saving. More...

void	show ()
	Show this Property in any PropertyTreeWidgets. More...

virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...

Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...

virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...

	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

Protected Slots
void	onStatusUpdate (StatusProperty::Level level, const std::string &name, const std::string &text)

void	publishFeedback (visualization_msgs::InteractiveMarkerFeedback &feedback)

void	updateEnableTransparency ()

void	updateShowAxes ()

void	updateShowDescriptions ()

void	updateShowVisualAids ()

void	updateTopic ()

Protected Member Functions
void	onDisable () override
	Derived classes override this to do the actual work of disabling themselves. More...

void	onEnable () override
	Derived classes override this to do the actual work of enabling themselves. More...

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()
	Delete all status children. This is thread-safe. More...

bool	initialized () const
	Returns true if the display has been initialized. More...

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Private Types
typedef boost::shared_ptr< InteractiveMarker >	IMPtr

typedef std::map< std::string, IMPtr >	M_StringToIMPtr

typedef std::map< std::string, M_StringToIMPtr >	M_StringToStringToIMPtr

Private Member Functions
void	eraseMarkers (const std::string &server_id, const std::vector< std::string > &names)

M_StringToIMPtr &	getImMap (std::string server_id)

void	initCb (visualization_msgs::InteractiveMarkerInitConstPtr msg)

void	processMarkerChanges (const std::vector< visualization_msgs::InteractiveMarker > markers=nullptr, const std::vector< visualization_msgs::InteractiveMarkerPose > poses=nullptr, const std::vector< std::string > *erases=nullptr)

void	resetCb (std::string server_id)

void	statusCb (interactive_markers::InteractiveMarkerClient::StatusT status, const std::string &server_id, const std::string &msg)

void	subscribe ()

void	unsubscribe ()

void	updateCb (visualization_msgs::InteractiveMarkerUpdateConstPtr msg)

void	updateMarkers (const std::string &server_id, const std::vector< visualization_msgs::InteractiveMarker > &markers)

void	updatePoses (const std::string &server_id, const std::vector< visualization_msgs::InteractiveMarkerPose > &marker_poses)

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()
	Convenience function which calls context_->queueRender(). More...

void	setEnabled (bool enabled)
	Enable or disable this Display. More...

void	setIcon (const QIcon &icon) override
	Set the Display's icon. More...

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)

Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...

void	changed ()
	Emitted by setValue() just after the value has changed. More...

void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...

Protected Attributes inherited from rviz::Display
DisplayContext *	context_
	This DisplayContext pointer is the main connection a Display has into the rest of rviz. This is how the FrameManager is accessed, the SelectionManager, etc. When a Display subclass wants to signal that a new render should be done right away, call context_->queueRender(). More...

QString	fixed_frame_
	A convenience variable equal to context_->getFixedFrame(). More...

Ogre::SceneManager *	scene_manager_
	A convenience variable equal to context_->getSceneManager(). More...

Ogre::SceneNode *	scene_node_
	The Ogre::SceneNode to hold all 3D scene elements shown by this Display. More...

ros::NodeHandle	threaded_nh_
	A NodeHandle whose CallbackQueue is run from a different thread than the GUI. More...

ros::NodeHandle	update_nh_
	A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread). More...

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...

QIcon	icon_

PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...

QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Detailed Description

Displays Interactive Markers.

Definition at line 65 of file interactive_marker_display.h.

Member Typedef Documentation

◆ IMPtr

typedef boost::shared_ptr<InteractiveMarker> rviz::InteractiveMarkerDisplay::IMPtr

private

Definition at line 123 of file interactive_marker_display.h.

◆ M_StringToIMPtr

typedef std::map<std::string, IMPtr> rviz::InteractiveMarkerDisplay::M_StringToIMPtr

private

Definition at line 124 of file interactive_marker_display.h.

◆ M_StringToStringToIMPtr

typedef std::map<std::string, M_StringToIMPtr> rviz::InteractiveMarkerDisplay::M_StringToStringToIMPtr

private

Definition at line 125 of file interactive_marker_display.h.

Constructor & Destructor Documentation

◆ InteractiveMarkerDisplay()

rviz::InteractiveMarkerDisplay::InteractiveMarkerDisplay ( )

Definition at line 84 of file interactive_marker_display.cpp.

Member Function Documentation

◆ eraseMarkers()

void rviz::InteractiveMarkerDisplay::eraseMarkers	(	const std::string &	server_id,
		const std::vector< std::string > &	names
	)

private

Definition at line 289 of file interactive_marker_display.cpp.

◆ fixedFrameChanged()

void rviz::InteractiveMarkerDisplay::fixedFrameChanged ( )

overridevirtual

Called by setFixedFrame(). Override to respond to changes to fixed_frame_.

Reimplemented from rviz::Display.

Definition at line 366 of file interactive_marker_display.cpp.

◆ getImMap()

InteractiveMarkerDisplay::M_StringToIMPtr & rviz::InteractiveMarkerDisplay::getImMap ( std::string server_id )

private

Definition at line 217 of file interactive_marker_display.cpp.

◆ initCb()

void rviz::InteractiveMarkerDisplay::initCb ( visualization_msgs::InteractiveMarkerInitConstPtr msg )

private

Definition at line 340 of file interactive_marker_display.cpp.

◆ onDisable()

void rviz::InteractiveMarkerDisplay::onDisable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of disabling themselves.

Reimplemented from rviz::Display.

Definition at line 144 of file interactive_marker_display.cpp.

◆ onEnable()

void rviz::InteractiveMarkerDisplay::onEnable ( )

overrideprotectedvirtual

Derived classes override this to do the actual work of enabling themselves.

Reimplemented from rviz::Display.

Definition at line 139 of file interactive_marker_display.cpp.

◆ onInitialize()

void rviz::InteractiveMarkerDisplay::onInitialize ( )

overridevirtual

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 109 of file interactive_marker_display.cpp.

◆ onStatusUpdate

void rviz::InteractiveMarkerDisplay::onStatusUpdate	(	StatusProperty::Level	level,
		const std::string &	name,
		const std::string &	text
	)

protectedslot

Definition at line 185 of file interactive_marker_display.cpp.

◆ processMarkerChanges()

void rviz::InteractiveMarkerDisplay::processMarkerChanges	(	const std::vector< visualization_msgs::InteractiveMarker > *	markers = `nullptr`,
		const std::vector< visualization_msgs::InteractiveMarkerPose > *	poses = `nullptr`,
		const std::vector< std::string > *	erases = `nullptr`
	)

private

◆ publishFeedback

void rviz::InteractiveMarkerDisplay::publishFeedback ( visualization_msgs::InteractiveMarkerFeedback & feedback )

protectedslot

Definition at line 179 of file interactive_marker_display.cpp.

◆ reset()

void rviz::InteractiveMarkerDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 373 of file interactive_marker_display.cpp.

◆ resetCb()

void rviz::InteractiveMarkerDisplay::resetCb ( std::string server_id )

private

Definition at line 353 of file interactive_marker_display.cpp.

◆ setTopic()

void rviz::InteractiveMarkerDisplay::setTopic	(	const QString &	topic,
		const QString &	datatype
	)

overridevirtual

Set the ROS topic to listen to for this display.

By default, do nothing. Subclasses should override this method if they subscribe to a single ROS topic.

setTopic() is used by the "New display by topic" window; it is called with a user selected topic and its type.

Parameters

topic	The published topic to be visualized.
datatype	The datatype of the topic.

Reimplemented from rviz::Display.

Definition at line 134 of file interactive_marker_display.cpp.

◆ statusCb()

void rviz::InteractiveMarkerDisplay::statusCb	(	interactive_markers::InteractiveMarkerClient::StatusT	status,
		const std::string &	server_id,
		const std::string &	msg
	)

private

Definition at line 359 of file interactive_marker_display.cpp.

◆ subscribe()

void rviz::InteractiveMarkerDisplay::subscribe ( )

private

Definition at line 167 of file interactive_marker_display.cpp.

◆ unsubscribe()

void rviz::InteractiveMarkerDisplay::unsubscribe ( )

private

Definition at line 192 of file interactive_marker_display.cpp.

◆ update()

void rviz::InteractiveMarkerDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

overridevirtual

Called periodically by the visualization manager.

Parameters

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 202 of file interactive_marker_display.cpp.

◆ updateCb()

void rviz::InteractiveMarkerDisplay::updateCb ( visualization_msgs::InteractiveMarkerUpdateConstPtr msg )

private

Definition at line 346 of file interactive_marker_display.cpp.

◆ updateEnableTransparency

void rviz::InteractiveMarkerDisplay::updateEnableTransparency ( )

protectedslot

Definition at line 425 of file interactive_marker_display.cpp.

◆ updateMarkers()

void rviz::InteractiveMarkerDisplay::updateMarkers	(	const std::string &	server_id,
		const std::vector< visualization_msgs::InteractiveMarker > &	markers
	)

private

Definition at line 229 of file interactive_marker_display.cpp.

◆ updatePoses()

void rviz::InteractiveMarkerDisplay::updatePoses	(	const std::string &	server_id,
		const std::vector< visualization_msgs::InteractiveMarkerPose > &	marker_poses
	)

private

Definition at line 301 of file interactive_marker_display.cpp.

◆ updateShowAxes

void rviz::InteractiveMarkerDisplay::updateShowAxes ( )

protectedslot

Definition at line 395 of file interactive_marker_display.cpp.

◆ updateShowDescriptions

void rviz::InteractiveMarkerDisplay::updateShowDescriptions ( )

protectedslot

Definition at line 380 of file interactive_marker_display.cpp.

◆ updateShowVisualAids

void rviz::InteractiveMarkerDisplay::updateShowVisualAids ( )

protectedslot

Definition at line 410 of file interactive_marker_display.cpp.

◆ updateTopic

void rviz::InteractiveMarkerDisplay::updateTopic ( )

protectedslot

Definition at line 149 of file interactive_marker_display.cpp.

Member Data Documentation

◆ client_id_

std::string rviz::InteractiveMarkerDisplay::client_id_

private

Definition at line 130 of file interactive_marker_display.h.

◆ enable_transparency_property_

BoolProperty* rviz::InteractiveMarkerDisplay::enable_transparency_property_

private

Definition at line 137 of file interactive_marker_display.h.

◆ feedback_pub_

ros::Publisher rviz::InteractiveMarkerDisplay::feedback_pub_

private

Definition at line 141 of file interactive_marker_display.h.

◆ im_client_

boost::shared_ptr<interactive_markers::InteractiveMarkerClient> rviz::InteractiveMarkerDisplay::im_client_

private

Definition at line 139 of file interactive_marker_display.h.

◆ interactive_markers_

M_StringToStringToIMPtr rviz::InteractiveMarkerDisplay::interactive_markers_

private

Definition at line 126 of file interactive_marker_display.h.

◆ marker_update_topic_property_

RosTopicProperty* rviz::InteractiveMarkerDisplay::marker_update_topic_property_

private

Definition at line 133 of file interactive_marker_display.h.

◆ show_axes_property_

BoolProperty* rviz::InteractiveMarkerDisplay::show_axes_property_

private

Definition at line 135 of file interactive_marker_display.h.

◆ show_descriptions_property_

BoolProperty* rviz::InteractiveMarkerDisplay::show_descriptions_property_

private

Definition at line 134 of file interactive_marker_display.h.

◆ show_visual_aids_property_

BoolProperty* rviz::InteractiveMarkerDisplay::show_visual_aids_property_

private

Definition at line 136 of file interactive_marker_display.h.

◆ topic_ns_

std::string rviz::InteractiveMarkerDisplay::topic_ns_

private

Definition at line 143 of file interactive_marker_display.h.

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

Private Attributes
std::string	client_id_

BoolProperty *	enable_transparency_property_

ros::Publisher	feedback_pub_

boost::shared_ptr< interactive_markers::InteractiveMarkerClient >	im_client_

M_StringToStringToIMPtr	interactive_markers_

RosTopicProperty *	marker_update_topic_property_

BoolProperty *	show_axes_property_

BoolProperty *	show_descriptions_property_

BoolProperty *	show_visual_aids_property_

std::string	topic_ns_

Public Member Functions

Protected Slots

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ IMPtr

◆ M_StringToIMPtr

◆ M_StringToStringToIMPtr

Constructor & Destructor Documentation

◆ InteractiveMarkerDisplay()

Member Function Documentation

◆ eraseMarkers()

◆ fixedFrameChanged()

◆ getImMap()

◆ initCb()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ onStatusUpdate

◆ processMarkerChanges()

◆ publishFeedback

◆ reset()

◆ resetCb()

◆ setTopic()

◆ statusCb()

◆ subscribe()

◆ unsubscribe()

◆ update()

◆ updateCb()

◆ updateEnableTransparency

◆ updateMarkers()

◆ updatePoses()

◆ updateShowAxes

◆ updateShowDescriptions

◆ updateShowVisualAids

◆ updateTopic

Member Data Documentation

◆ client_id_

◆ enable_transparency_property_

◆ feedback_pub_

◆ im_client_

◆ interactive_markers_

◆ marker_update_topic_property_

◆ show_axes_property_

◆ show_descriptions_property_

◆ show_visual_aids_property_

◆ topic_ns_