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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "goal_tool.h" 00031 #include "visualization_manager.h" 00032 #include "properties/property.h" 00033 #include "properties/property_manager.h" 00034 00035 #include "ogre_tools/camera_base.h" 00036 #include "ogre_tools/arrow.h" 00037 #include "ogre_tools/qt_ogre_render_window.h" 00038 00039 #include <geometry_msgs/PoseStamped.h> 00040 00041 #include <OGRE/OgreRay.h> 00042 #include <OGRE/OgrePlane.h> 00043 #include <OGRE/OgreCamera.h> 00044 #include <OGRE/OgreSceneNode.h> 00045 #include <OGRE/OgreViewport.h> 00046 00047 #include <tf/transform_listener.h> 00048 00049 namespace rviz 00050 { 00051 00052 GoalTool::GoalTool( const std::string& name, char shortcut_key, VisualizationManager* manager ) 00053 : PoseTool( name, shortcut_key, manager ) 00054 { 00055 setTopic("goal"); 00056 } 00057 00058 GoalTool::~GoalTool() 00059 { 00060 } 00061 00062 void GoalTool::setTopic(const std::string& topic) 00063 { 00064 topic_ = topic; 00065 pub_ = nh_.advertise<geometry_msgs::PoseStamped>(topic, 1); 00066 } 00067 00068 void GoalTool::onPoseSet(double x, double y, double theta) 00069 { 00070 std::string fixed_frame = manager_->getFixedFrame(); 00071 tf::Quaternion quat; 00072 quat.setRPY(0.0, 0.0, theta); 00073 tf::Stamped<tf::Pose> p = tf::Stamped<tf::Pose>(tf::Pose(quat, tf::Point(x, y, 0.0)), ros::Time::now(), fixed_frame); 00074 geometry_msgs::PoseStamped goal; 00075 tf::poseStampedTFToMsg(p, goal); 00076 ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = Angle: %.3f\n", fixed_frame.c_str(), 00077 goal.pose.position.x, goal.pose.position.y, goal.pose.position.z, 00078 goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w, theta); 00079 pub_.publish(goal); 00080 } 00081 00082 void GoalTool::enumerateProperties(PropertyManager* property_manager, const CategoryPropertyWPtr& parent) 00083 { 00084 topic_property_ = property_manager->createProperty<StringProperty>("Topic", "Tool " + getName(), boost::bind(&GoalTool::getTopic, this), boost::bind(&GoalTool::setTopic, this, _1), parent, this); 00085 } 00086 00087 } 00088