add humble-navigation2

navigation2/nav2_rviz_plugins/src/goal_tool.cpp

@@ -0,0 +1,54 @@
+// Copyright (c) 2019 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "nav2_rviz_plugins/goal_tool.hpp"
+
+#include <memory>
+#include <string>
+
+#include "nav2_rviz_plugins/goal_common.hpp"
+#include "rviz_common/display_context.hpp"
+#include "rviz_common/load_resource.hpp"
+
+namespace nav2_rviz_plugins
+{
+
+GoalTool::GoalTool()
+: rviz_default_plugins::tools::PoseTool()
+{
+  shortcut_key_ = 'g';
+}
+
+GoalTool::~GoalTool()
+{
+}
+
+void GoalTool::onInitialize()
+{
+  PoseTool::onInitialize();
+  setName("Nav2 Goal");
+  setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/SetGoal.png"));
+}
+
+void
+GoalTool::onPoseSet(double x, double y, double theta)
+{
+  // Set goal pose on global object GoalUpdater to update nav2 Panel
+  GoalUpdater.setGoal(x, y, theta, context_->getFixedFrame());
+}
+
+}  // namespace nav2_rviz_plugins
+
+#include <pluginlib/class_list_macros.hpp>  // NOLINT
+PLUGINLIB_EXPORT_CLASS(nav2_rviz_plugins::GoalTool, rviz_common::Tool)