publish_topic.cpp

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#include <stdio.h>
 
#include <QPainter>
#include <QLineEdit>
#include <QPushButton>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QLabel>
#include <QTimer>
 
#include <std_msgs/Empty.h>
 
#include "publish_topic.h"
 
namespace jsk_rviz_plugins
{
  PublishTopic::PublishTopic( QWidget* parent )
    : rviz::Panel( parent )
  {
    QHBoxLayout* topic_layout = new QHBoxLayout;
    topic_layout->addWidget( new QLabel( "Topic:" ));
    output_topic_editor_ = new QLineEdit;
    topic_layout->addWidget( output_topic_editor_ );
 
 
    // Lay out the topic field above the control widget.
    QVBoxLayout* layout = new QVBoxLayout;
    layout->addLayout( topic_layout );
 
    QPushButton* send_topic_button_ = new QPushButton("Send Topic");
    layout->addWidget( send_topic_button_ );
    setLayout( layout );
 
 
    connect( send_topic_button_, SIGNAL( clicked() ), this, SLOT( sendTopic ()));
    connect( output_topic_editor_, SIGNAL( editingFinished() ), this, SLOT( updateTopic() ));
 
  }
 
  void PublishTopic::updateTopic()
  {
    setTopic( output_topic_editor_->text() );
  }
 
  // Set the topic name we are publishing to.
  void PublishTopic::setTopic( const QString& new_topic )
  {
    // Only take action if the name has changed.
    if( new_topic != output_topic_ )
      {
        output_topic_ = new_topic;
        // If the topic is the empty string, don't publish anything.
        if( output_topic_ == "" )
          {
            velocity_publisher_.shutdown();
          }
        else
          {
            velocity_publisher_ = nh_.advertise<std_msgs::Empty>( output_topic_.toStdString(), 1 );
          }
 
        Q_EMIT configChanged();
      }
  }
  
  void PublishTopic::sendTopic(){
    std_msgs::Empty msg;
    velocity_publisher_.publish(msg);
  }
 
 
  void PublishTopic::save( rviz::Config config ) const
  {
    rviz::Panel::save( config );
    config.mapSetValue( "Topic", output_topic_ );
  }
 
  // Load all configuration data for this panel from the given Config object.
  void PublishTopic::load( const rviz::Config& config )
  {
    rviz::Panel::load( config );
    QString topic;
    if( config.mapGetString( "Topic", &topic ))
      {
        output_topic_editor_->setText( topic );
        updateTopic();
      }
  }
 
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::PublishTopic, rviz::Panel )