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

#include <marker_display.h>

Inheritance diagram for rviz::MarkerDisplay:

Public Member Functions
void	deleteAllMarkers ()
	Delete all known markers to this plugin, regardless of id or namespace.
void	deleteMarker (MarkerID id)
void	deleteMarkerStatus (MarkerID id)
virtual void	fixedFrameChanged ()
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
	MarkerDisplay ()
virtual void	onInitialize ()
	Override this function to do subclass-specific initialization.
virtual void	reset ()
	Called to tell the display to clear its state.
void	setMarkerStatus (MarkerID id, StatusLevel level, const std::string &text)
virtual void	setTopic (const QString &topic, const QString &datatype)
	Set the ROS topic to listen to for this display.
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization manager.
virtual	~MarkerDisplay ()
Protected Member Functions
void	incomingMarkerArray (const visualization_msgs::MarkerArray::ConstPtr &array)
	Process a MarkerArray message.
virtual void	load (const Config &config)
	Load the settings for this display from the given Config node, which must be a map.
virtual void	onDisable ()
	Derived classes override this to do the actual work of disabling themselves.
virtual void	onEnable ()
	Derived classes override this to do the actual work of enabling themselves.
virtual void	subscribe ()
	Subscribes to the "visualization_marker" and "visualization_marker_array" topics.
virtual void	unsubscribe ()
	Unsubscribes from the "visualization_marker" "visualization_marker_array" topics.
Protected Attributes
ros::Subscriber	array_sub_
RosTopicProperty *	marker_topic_property_
IntProperty *	queue_size_property_
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.
void	deleteMarkersInNamespace (const std::string &ns)
	Delete all the markers within the given namespace.
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.
void	processAdd (const visualization_msgs::Marker::ConstPtr &message)
	Processes an "Add" marker message.
void	processDelete (const visualization_msgs::Marker::ConstPtr &message)
	Processes a "Delete" marker message.
void	processMessage (const visualization_msgs::Marker::ConstPtr &message)
	Processes a marker message.
Private Attributes
S_MarkerBase	frame_locked_markers_
M_IDToMarker	markers_
	Map of marker id to the marker info structure.
S_MarkerBase	markers_with_expiration_
V_MarkerMessage	message_queue_
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

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

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

Definition at line 170 of file marker_display.h.

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

Definition at line 152 of file marker_display.h.

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

Definition at line 165 of file marker_display.h.

typedef std::set<MarkerBasePtr> rviz::MarkerDisplay::S_MarkerBase [private]

Definition at line 153 of file marker_display.h.

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

Definition at line 157 of file marker_display.h.

Constructor & Destructor Documentation

rviz::MarkerDisplay::MarkerDisplay ( )

Definition at line 60 of file marker_display.cpp.

rviz::MarkerDisplay::~MarkerDisplay ( ) [virtual]

Definition at line 93 of file marker_display.cpp.

Member Function Documentation

void rviz::MarkerDisplay::clearMarkers ( ) [private]

Removes all the markers.

Definition at line 118 of file marker_display.cpp.

void rviz::MarkerDisplay::deleteAllMarkers ( )

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

Definition at line 222 of file marker_display.cpp.

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

Definition at line 184 of file marker_display.cpp.

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

Delete all the markers within the given namespace.

Definition at line 197 of file marker_display.cpp.

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

Definition at line 245 of file marker_display.cpp.

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

Definition at line 271 of file marker_display.cpp.

void rviz::MarkerDisplay::fixedFrameChanged ( ) [virtual]

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

Reimplemented from rviz::Display.

Definition at line 496 of file marker_display.cpp.

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

ROS callback notifying us of a new marker.

Definition at line 264 of file marker_display.cpp.

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

Process a MarkerArray message.

Definition at line 253 of file marker_display.cpp.

void rviz::MarkerDisplay::load ( const Config & config ) [protected, virtual]

Load the settings for this display from the given Config node, which must be a map.

Overridden from Property::load() to load the Display's name and enabled state, then call Property::load().

load() is called after initialize().

Reimplemented from rviz::Display.

Definition at line 105 of file marker_display.cpp.

void rviz::MarkerDisplay::onDisable ( ) [protected, virtual]

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

Reimplemented from rviz::Display.

Definition at line 133 of file marker_display.cpp.

void rviz::MarkerDisplay::onEnable ( ) [protected, virtual]

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

Reimplemented from rviz::Display.

Definition at line 128 of file marker_display.cpp.

void rviz::MarkerDisplay::onInitialize ( ) [virtual]

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 79 of file marker_display.cpp.

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 321 of file marker_display.cpp.

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 438 of file marker_display.cpp.

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

Processes a marker message.

Parameters:

message The message to process

Definition at line 294 of file marker_display.cpp.

void rviz::MarkerDisplay::reset ( ) [virtual]

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 503 of file marker_display.cpp.

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

Definition at line 237 of file marker_display.cpp.

void rviz::MarkerDisplay::setTopic	(	const QString &	topic,
		const QString &	datatype
	)		`[virtual]`

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 509 of file marker_display.cpp.

void rviz::MarkerDisplay::subscribe ( ) [protected, virtual]

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

Reimplemented in rviz::MarkerArrayDisplay.

Definition at line 152 of file marker_display.cpp.

void rviz::MarkerDisplay::unsubscribe ( ) [protected, virtual]

Unsubscribes from the "visualization_marker" "visualization_marker_array" topics.

Reimplemented in rviz::MarkerArrayDisplay.

Definition at line 178 of file marker_display.cpp.

void rviz::MarkerDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[virtual]`

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 445 of file marker_display.cpp.

void rviz::MarkerDisplay::updateQueueSize ( ) [private, slot]

Definition at line 141 of file marker_display.cpp.

void rviz::MarkerDisplay::updateTopic ( ) [private, slot]

Definition at line 146 of file marker_display.cpp.