initial_pose_tool.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "initial_pose_tool.h"
#include "visualization_manager.h"
#include "properties/property.h"
#include "properties/property_manager.h"

#include "ogre_tools/camera_base.h"
#include "ogre_tools/arrow.h"
#include "ogre_tools/qt_ogre_render_window.h"

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <OGRE/OgreRay.h>
#include <OGRE/OgrePlane.h>
#include <OGRE/OgreCamera.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreViewport.h>

#include <tf/transform_listener.h>

namespace rviz
{

InitialPoseTool::InitialPoseTool( const std::string& name, char shortcut_key, VisualizationManager* manager )
: PoseTool( name, shortcut_key, manager )
{
  setTopic("initialpose");
}

InitialPoseTool::~InitialPoseTool()
{
}

void InitialPoseTool::setTopic(const std::string& topic)
{
  topic_ = topic;
  pub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic, 1);
}

void InitialPoseTool::onPoseSet(double x, double y, double theta)
{
  std::string fixed_frame = manager_->getFixedFrame();
  geometry_msgs::PoseWithCovarianceStamped pose;
  pose.header.frame_id = fixed_frame;
  pose.pose.pose.position.x = x;
  pose.pose.pose.position.y = y;

  tf::Quaternion quat;
  quat.setRPY(0.0, 0.0, theta);
  tf::quaternionTFToMsg(quat,
                        pose.pose.pose.orientation);
  pose.pose.covariance[6*0+0] = 0.5 * 0.5;
  pose.pose.covariance[6*1+1] = 0.5 * 0.5;
  pose.pose.covariance[6*5+5] = M_PI/12.0 * M_PI/12.0;
  ROS_INFO("Setting pose: %.3f %.3f %.3f [frame=%s]", x, y, theta, fixed_frame.c_str());
  pub_.publish(pose);
}

void InitialPoseTool::enumerateProperties(PropertyManager* property_manager, const CategoryPropertyWPtr& parent)
{
  topic_property_ = property_manager->createProperty<StringProperty>("Topic", "Tool " + getName(), boost::bind(&InitialPoseTool::getTopic, this), boost::bind(&InitialPoseTool::setTopic, this, _1), parent, this);
}

}