Displays "markers" sent in by other ROS nodes on the "visualization_marker" topic. More...

#include <marker_display.h>

Inheritance diagram for rviz::MarkerDisplay:

[legend]

Public Member Functions
void	deleteAllMarkers ()
	Delete all known markers to this plugin, regardless of id or namespace. More...

void	deleteMarker (MarkerID id)

void	deleteMarkerStatus (MarkerID id)

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

	MarkerDisplay ()

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	setMarkerStatus (MarkerID id, StatusLevel level, const std::string &text)

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...

	~MarkerDisplay () override

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 Member Functions
void	deleteMarkerInternal (MarkerID id)

void	incomingMarkerArray (const visualization_msgs::MarkerArray::ConstPtr &array)
	Process a MarkerArray message. More...

void	load (const Config &config) override
	Load the value of this property and/or its children from the given Config reference. More...

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...

virtual void	subscribe ()
	Subscribes to the "visualization_marker" and "visualization_marker_array" topics. More...

virtual void	unsubscribe ()
	Unsubscribes from the "visualization_marker" "visualization_marker_array" topics. 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...

Protected Attributes
ros::Subscriber	array_sub_

RosTopicProperty *	marker_topic_property_

IntProperty *	queue_size_property_

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...

Private Types
typedef std::map< QString, bool >	M_EnabledState

typedef std::map< MarkerID, MarkerBasePtr >	M_IDToMarker

typedef QHash< QString, MarkerNamespace * >	M_Namespace

typedef std::set< MarkerBasePtr >	S_MarkerBase

typedef std::vector< visualization_msgs::Marker::ConstPtr >	V_MarkerMessage

Private Slots
void	updateQueueSize ()

void	updateTopic ()

Private Member Functions
void	clearMarkers ()
	Removes all the markers. More...

void	deleteMarkersInNamespace (const std::string &ns)
	Delete all the markers within the given namespace. More...

void	failedMarker (const ros::MessageEvent< visualization_msgs::Marker > &marker_evt, tf::FilterFailureReason reason)

void	incomingMarker (const visualization_msgs::Marker::ConstPtr &marker)
	ROS callback notifying us of a new marker. More...

void	processAdd (const visualization_msgs::Marker::ConstPtr &message)
	Processes an "Add" marker message. More...

void	processDelete (const visualization_msgs::Marker::ConstPtr &message)
	Processes a "Delete" marker message. More...

void	processMessage (const visualization_msgs::Marker::ConstPtr &message)
	Processes a marker message. More...

Private Attributes
S_MarkerBase	frame_locked_markers_

M_IDToMarker	markers_
	Map of marker id to the marker info structure. More...

S_MarkerBase	markers_with_expiration_

V_MarkerMessage	message_queue_
	in our update() function More...

M_EnabledState	namespace_config_enabled_state_

M_Namespace	namespaces_

Property *	namespaces_category_

boost::mutex	queue_mutex_

message_filters::Subscriber< visualization_msgs::Marker >	sub_

tf::MessageFilter< visualization_msgs::Marker > *	tf_filter_

Friends
class	MarkerNamespace

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...

Detailed Description

Displays "markers" sent in by other ROS nodes on the "visualization_marker" topic.

Markers come in as visualization_msgs::Marker messages. See the Marker message for more information.

Definition at line 70 of file marker_display.h.

Member Typedef Documentation

◆ M_EnabledState

typedef std::map<QString, bool> rviz::MarkerDisplay::M_EnabledState

private

Definition at line 174 of file marker_display.h.

◆ M_IDToMarker

typedef std::map<MarkerID, MarkerBasePtr> rviz::MarkerDisplay::M_IDToMarker

private

Definition at line 155 of file marker_display.h.

◆ M_Namespace

typedef QHash<QString, MarkerNamespace*> rviz::MarkerDisplay::M_Namespace

private

Definition at line 169 of file marker_display.h.

◆ S_MarkerBase

typedef std::set<MarkerBasePtr> rviz::MarkerDisplay::S_MarkerBase

private

Definition at line 156 of file marker_display.h.

◆ V_MarkerMessage

typedef std::vector<visualization_msgs::Marker::ConstPtr> rviz::MarkerDisplay::V_MarkerMessage

private

Definition at line 160 of file marker_display.h.

Constructor & Destructor Documentation

◆ MarkerDisplay()

rviz::MarkerDisplay::MarkerDisplay ( )

Definition at line 52 of file marker_display.cpp.

◆ ~MarkerDisplay()

rviz::MarkerDisplay::~MarkerDisplay ( )

override

Definition at line 95 of file marker_display.cpp.

Member Function Documentation

◆ clearMarkers()

void rviz::MarkerDisplay::clearMarkers ( )

private

Removes all the markers.

Definition at line 120 of file marker_display.cpp.

◆ deleteAllMarkers()

void rviz::MarkerDisplay::deleteAllMarkers ( )

Delete all known markers to this plugin, regardless of id or namespace.

Definition at line 229 of file marker_display.cpp.

◆ deleteMarker()

void rviz::MarkerDisplay::deleteMarker ( MarkerID id )

inline

Definition at line 187 of file marker_display.cpp.

◆ deleteMarkerInternal()

void rviz::MarkerDisplay::deleteMarkerInternal ( MarkerID id )

protected

Definition at line 193 of file marker_display.cpp.

◆ deleteMarkersInNamespace()

void rviz::MarkerDisplay::deleteMarkersInNamespace ( const std::string & ns )

private

Delete all the markers within the given namespace.

Definition at line 204 of file marker_display.cpp.

◆ deleteMarkerStatus()

void rviz::MarkerDisplay::deleteMarkerStatus ( MarkerID id )

Definition at line 252 of file marker_display.cpp.

◆ failedMarker()

void rviz::MarkerDisplay::failedMarker	(	const ros::MessageEvent< visualization_msgs::Marker > &	marker_evt,
		tf::FilterFailureReason	reason
	)

private

Definition at line 275 of file marker_display.cpp.

◆ fixedFrameChanged()

void rviz::MarkerDisplay::fixedFrameChanged ( )

overridevirtual

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

Reimplemented from rviz::Display.

Definition at line 450 of file marker_display.cpp.

◆ incomingMarker()

void rviz::MarkerDisplay::incomingMarker ( const visualization_msgs::Marker::ConstPtr & marker )

private

ROS callback notifying us of a new marker.

Definition at line 269 of file marker_display.cpp.

◆ incomingMarkerArray()

void rviz::MarkerDisplay::incomingMarkerArray ( const visualization_msgs::MarkerArray::ConstPtr & array )

protected

Process a MarkerArray message.

Definition at line 260 of file marker_display.cpp.

◆ load()

void rviz::MarkerDisplay::load ( const Config & config )

overrideprotectedvirtual

Load the value of this property and/or its children from the given Config reference.

Reimplemented from rviz::Property.

Definition at line 107 of file marker_display.cpp.

◆ onDisable()

void rviz::MarkerDisplay::onDisable ( )

overrideprotectedvirtual

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

Reimplemented from rviz::Display.

Definition at line 136 of file marker_display.cpp.

◆ onEnable()

void rviz::MarkerDisplay::onEnable ( )

overrideprotectedvirtual

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

Reimplemented from rviz::Display.

Definition at line 131 of file marker_display.cpp.

◆ onInitialize()

void rviz::MarkerDisplay::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 72 of file marker_display.cpp.

◆ processAdd()

void rviz::MarkerDisplay::processAdd ( const visualization_msgs::Marker::ConstPtr & message )

private

Processes an "Add" marker message.

Parameters

message The message to process

Definition at line 325 of file marker_display.cpp.

◆ processDelete()

void rviz::MarkerDisplay::processDelete ( const visualization_msgs::Marker::ConstPtr & message )

private

Processes a "Delete" marker message.

Parameters

message The message to process

Definition at line 392 of file marker_display.cpp.

◆ processMessage()

void rviz::MarkerDisplay::processMessage ( const visualization_msgs::Marker::ConstPtr & message )

private

Processes a marker message.

Parameters

message The message to process

Definition at line 300 of file marker_display.cpp.

◆ reset()

void rviz::MarkerDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 457 of file marker_display.cpp.

◆ setMarkerStatus()

void rviz::MarkerDisplay::setMarkerStatus	(	MarkerID	id,
		StatusLevel	level,
		const std::string &	text
	)

Definition at line 244 of file marker_display.cpp.

◆ setTopic()

void rviz::MarkerDisplay::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 463 of file marker_display.cpp.

◆ subscribe()

void rviz::MarkerDisplay::subscribe ( )

protectedvirtual

Subscribes to the "visualization_marker" and "visualization_marker_array" topics.

Reimplemented in rviz::MarkerArrayDisplay.

Definition at line 154 of file marker_display.cpp.

◆ unsubscribe()

void rviz::MarkerDisplay::unsubscribe ( )

protectedvirtual

Unsubscribes from the "visualization_marker" "visualization_marker_array" topics.

Reimplemented in rviz::MarkerArrayDisplay.

Definition at line 181 of file marker_display.cpp.

◆ update()

void rviz::MarkerDisplay::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 399 of file marker_display.cpp.

◆ updateQueueSize

void rviz::MarkerDisplay::updateQueueSize ( )

privateslot

Definition at line 142 of file marker_display.cpp.

◆ updateTopic

void rviz::MarkerDisplay::updateTopic ( )

privateslot

Definition at line 148 of file marker_display.cpp.

Friends And Related Function Documentation

◆ MarkerNamespace

friend class MarkerNamespace

friend

Definition at line 177 of file marker_display.h.

Member Data Documentation

◆ array_sub_

ros::Subscriber rviz::MarkerDisplay::array_sub_

protected

Definition at line 113 of file marker_display.h.

◆ frame_locked_markers_

S_MarkerBase rviz::MarkerDisplay::frame_locked_markers_

private

Definition at line 159 of file marker_display.h.

◆ marker_topic_property_

RosTopicProperty* rviz::MarkerDisplay::marker_topic_property_

protected

Definition at line 115 of file marker_display.h.

◆ markers_

M_IDToMarker rviz::MarkerDisplay::markers_

private

Map of marker id to the marker info structure.

Definition at line 157 of file marker_display.h.

◆ markers_with_expiration_

S_MarkerBase rviz::MarkerDisplay::markers_with_expiration_

private

Definition at line 158 of file marker_display.h.

◆ message_queue_

V_MarkerMessage rviz::MarkerDisplay::message_queue_

private

in our update() function

Marker message queue. Messages are added to this as they are received, and then processed

Definition at line 161 of file marker_display.h.

◆ namespace_config_enabled_state_

M_EnabledState rviz::MarkerDisplay::namespace_config_enabled_state_

private

Definition at line 175 of file marker_display.h.

◆ namespaces_

M_Namespace rviz::MarkerDisplay::namespaces_

private

Definition at line 170 of file marker_display.h.

◆ namespaces_category_

Property* rviz::MarkerDisplay::namespaces_category_

private

Definition at line 172 of file marker_display.h.

◆ queue_mutex_

boost::mutex rviz::MarkerDisplay::queue_mutex_

private

Definition at line 164 of file marker_display.h.

◆ queue_size_property_

IntProperty* rviz::MarkerDisplay::queue_size_property_

protected

Definition at line 116 of file marker_display.h.

◆ sub_

message_filters::Subscriber<visualization_msgs::Marker> rviz::MarkerDisplay::sub_

private

Definition at line 166 of file marker_display.h.

◆ tf_filter_

tf::MessageFilter<visualization_msgs::Marker>* rviz::MarkerDisplay::tf_filter_

private

Definition at line 167 of file marker_display.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Slots

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ M_EnabledState

◆ M_IDToMarker

◆ M_Namespace

◆ S_MarkerBase

◆ V_MarkerMessage

Constructor & Destructor Documentation

◆ MarkerDisplay()

◆ ~MarkerDisplay()

Member Function Documentation

◆ clearMarkers()

◆ deleteAllMarkers()

◆ deleteMarker()

◆ deleteMarkerInternal()

◆ deleteMarkersInNamespace()

◆ deleteMarkerStatus()

◆ failedMarker()

◆ fixedFrameChanged()

◆ incomingMarker()

◆ incomingMarkerArray()

◆ load()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ processAdd()

◆ processDelete()

◆ processMessage()

◆ reset()

◆ setMarkerStatus()

◆ setTopic()

◆ subscribe()

◆ unsubscribe()

◆ update()

◆ updateQueueSize

◆ updateTopic

Friends And Related Function Documentation

◆ MarkerNamespace

Member Data Documentation

◆ array_sub_

◆ frame_locked_markers_

◆ marker_topic_property_

◆ markers_

◆ markers_with_expiration_

◆ message_queue_

◆ namespace_config_enabled_state_

◆ namespaces_

◆ namespaces_category_

◆ queue_mutex_

◆ queue_size_property_

◆ sub_

◆ tf_filter_