goal_tool.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #include <tf/transform_listener.h>
31 
32 #include <geometry_msgs/PoseStamped.h>
33 
34 #include "rviz/display_context.h"
37 
39 
40 namespace rviz
41 {
43 {
44  shortcut_key_ = 'g';
45 
47  new StringProperty("Topic", "goal", "The topic on which to publish navigation goals.",
48  getPropertyContainer(), SLOT(updateTopic()), this);
49 }
50 
52 {
54  arrow_->setColor(1.0f, 0.0f, 1.0f, 1.0f);
55  setName("2D Nav Goal");
56  updateTopic();
57 }
58 
60 {
61  try
62  {
63  pub_ = nh_.advertise<geometry_msgs::PoseStamped>(topic_property_->getStdString(), 1);
64  }
65  catch (const ros::Exception& e)
66  {
67  ROS_ERROR_STREAM_NAMED("GoalTool", e.what());
68  }
69 }
70 
71 void GoalTool::onPoseSet(double x, double y, double theta)
72 {
73  std::string fixed_frame = context_->getFixedFrame().toStdString();
74  tf::Quaternion quat;
75  quat.setRPY(0.0, 0.0, theta);
77  tf::Stamped<tf::Pose>(tf::Pose(quat, tf::Point(x, y, 0.0)), ros::Time::now(), fixed_frame);
78  geometry_msgs::PoseStamped goal;
79  tf::poseStampedTFToMsg(p, goal);
80  ROS_INFO("Setting goal: Frame:%s, Position(%.3f, %.3f, %.3f), Orientation(%.3f, %.3f, %.3f, %.3f) = "
81  "Angle: %.3f\n",
82  fixed_frame.c_str(), goal.pose.position.x, goal.pose.position.y, goal.pose.position.z,
83  goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z,
84  goal.pose.orientation.w, theta);
85  pub_.publish(goal);
86 }
87 
88 } // end namespace rviz
89 
ros::Publisher pub_
Definition: goal_tool.h:65
StringProperty * topic_property_
Definition: goal_tool.h:67
#define ROS_ERROR_STREAM_NAMED(name, args)
virtual Property * getPropertyContainer() const
Return the container for properties of this Tool.
Definition: tool.h:76
f
static void poseStampedTFToMsg(const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
tf::Vector3 Point
char shortcut_key_
Definition: tool.h:209
Arrow * arrow_
Definition: pose_tool.h:62
std::string getStdString()
tf::Transform Pose
void onPoseSet(double x, double y, double theta) override
Definition: goal_tool.cpp:71
void publish(const boost::shared_ptr< M > &message) const
void onInitialize() override
Definition: goal_tool.cpp:51
void setRPY(const tfScalar &roll, const tfScalar &pitch, const tfScalar &yaw)
#define ROS_INFO(...)
void setName(const QString &name)
Set the name of the tool.
Definition: tool.cpp:72
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
Property specialized for string values.
virtual QString getFixedFrame() const =0
Return the fixed frame name.
DisplayContext * context_
Definition: tool.h:207
void updateTopic()
Definition: goal_tool.cpp:59
static Time now()
void setColor(float r, float g, float b, float a) override
Set the color of this arrow. Sets both the head and shaft color to the same value. Values are in the range [0, 1].
Definition: arrow.cpp:89
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
ros::NodeHandle nh_
Definition: goal_tool.h:64
void onInitialize() override
Definition: pose_tool.cpp:54


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Aug 15 2022 02:05:16