relative_humidity_display.cpp
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29 
30 #include <OgreSceneNode.h>
31 #include <OgreSceneManager.h>
32 
33 #include <ros/time.h>
34 
37 #include "rviz/display_context.h"
38 #include "rviz/frame_manager.h"
41 #include "rviz/validate_floats.h"
42 
44 
45 namespace rviz
46 {
48 {
50  new IntProperty("Queue Size", 10,
51  "Advanced: set the size of the incoming RelativeHumidity message queue. "
52  " Increasing this is useful if your incoming TF data is delayed significantly "
53  "from your RelativeHumidity data, but it can greatly increase memory usage if the "
54  "messages are big.",
55  this, SLOT(updateQueueSize()));
56 }
57 
59 {
61  delete point_cloud_common_;
62 }
63 
65 {
66  // Use the threaded queue for processing of incoming messages
68 
71 
72  // Set correct initial values
73  subProp("Channel Name")->setValue("relative_humidity");
74  subProp("Autocompute Intensity Bounds")->setValue(false);
75  subProp("Min Intensity")->setValue(0.0); // 0% relative humidity
76  subProp("Max Intensity")->setValue(1.0); // 100% relative humidity
77 }
78 
80 {
82 }
83 
84 void RelativeHumidityDisplay::processMessage(const sensor_msgs::RelativeHumidityConstPtr& msg)
85 {
86  sensor_msgs::PointCloud2Ptr filtered(new sensor_msgs::PointCloud2);
87 
88  // Create fields
89  sensor_msgs::PointField x;
90  x.name = "x";
91  x.offset = 0;
92  x.datatype = sensor_msgs::PointField::FLOAT32;
93  x.count = 1;
94  sensor_msgs::PointField y;
95  y.name = "y";
96  y.offset = 4;
97  y.datatype = sensor_msgs::PointField::FLOAT32;
98  y.count = 1;
99  sensor_msgs::PointField z;
100  z.name = "z";
101  z.offset = 8;
102  z.datatype = sensor_msgs::PointField::FLOAT32;
103  z.count = 1;
104  sensor_msgs::PointField relative_humidity;
105  relative_humidity.name = "relative_humidity";
106  relative_humidity.offset = 12;
107  relative_humidity.datatype = sensor_msgs::PointField::FLOAT64;
108  relative_humidity.count = 1;
109 
110  // Create pointcloud from message
111  filtered->header = msg->header;
112  filtered->fields.push_back(x);
113  filtered->fields.push_back(y);
114  filtered->fields.push_back(z);
115  filtered->fields.push_back(relative_humidity);
116  filtered->data.resize(20);
117  const float zero_float = 0.0; // RelativeHumidity is always on its tf frame
118  memcpy(&filtered->data[x.offset], &zero_float, 4);
119  memcpy(&filtered->data[y.offset], &zero_float, 4);
120  memcpy(&filtered->data[z.offset], &zero_float, 4);
121  memcpy(&filtered->data[relative_humidity.offset], &msg->relative_humidity, 8);
122  filtered->height = 1;
123  filtered->width = 1;
124  filtered->is_bigendian = false;
125  filtered->point_step = 20;
126  filtered->row_step = 1;
127 
128  // Give to point_cloud_common to draw
129  point_cloud_common_->addMessage(filtered);
130 }
131 
132 
133 void RelativeHumidityDisplay::update(float wall_dt, float ros_dt)
134 {
135  point_cloud_common_->update(wall_dt, ros_dt);
136 
137  // Hide unneeded properties
138  subProp("Position Transformer")->hide();
139  subProp("Color Transformer")->hide();
140  subProp("Channel Name")->hide();
141  subProp("Autocompute Intensity Bounds")->hide();
142 }
143 
145 {
146  MFDClass::reset();
148 }
149 
150 } // namespace rviz
151 
tf2_ros::MessageFilter< sensor_msgs::RelativeHumidity > * tf_filter_
void onInitialize() override
Do initialization. Overridden from MessageFilterDisplay.
DisplayContext * context_
This DisplayContext pointer is the main connection a Display has into the rest of rviz...
Definition: display.h:287
Displays a RelativeHumidity message of type sensor_msgs::RelativeHumidity.
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...
Definition: property.cpp:134
ros::NodeHandle update_nh_
A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread).
Definition: display.h:300
void initialize(DisplayContext *context, Ogre::SceneNode *scene_node)
Property specialized to provide max/min enforcement for integers.
Definition: int_property.h:37
Ogre::SceneNode * scene_node_
The Ogre::SceneNode to hold all 3D scene elements shown by this Display.
Definition: display.h:295
Displays a point cloud of type sensor_msgs::PointCloud.
void update(float wall_dt, float ros_dt) override
Called periodically by the visualization manager.
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...
Definition: property.cpp:179
void addMessage(const sensor_msgs::PointCloudConstPtr &cloud)
void reset() override
Called to tell the display to clear its state.
void setCallbackQueue(CallbackQueueInterface *queue)
virtual void setQueueSize(uint32_t new_queue_size)
virtual int getInt() const
Return the internal property value as an integer.
Definition: int_property.h:74
void hide()
Hide this Property in any PropertyTreeWidgets.
Definition: property.h:401
void processMessage(const sensor_msgs::RelativeHumidityConstPtr &msg) override
Process a single message. Overridden from MessageFilterDisplay.
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
virtual ros::CallbackQueueInterface * getThreadedQueue()=0
Return a CallbackQueue using a different thread than the main GUI one.
void update(float wall_dt, float ros_dt)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat May 27 2023 02:06:25