X-lanni
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
// Copyright (c) 2019 Intel Corporation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "nav2_rviz_plugins/charger_tool.hpp"
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#include <memory>
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#include <string>
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#include "rviz_common/display_context.hpp"
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#include "rviz_common/load_resource.hpp"
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#include "rviz_common/properties/string_property.hpp"
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#include "rviz_common/properties/qos_profile_property.hpp"
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namespace nav2_rviz_plugins
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{
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ChargerTool::ChargerTool()
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: rviz_default_plugins::tools::PoseTool(), qos_profile_(5)
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{
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shortcut_key_ = 'c';
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topic_property_ = new rviz_common::properties::StringProperty(
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"Topic", "charger_position_update",
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"The topic on which to publish goals.",
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getPropertyContainer(), SLOT(updateTopic()), this);
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qos_profile_property_ = new rviz_common::properties::QosProfileProperty(
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topic_property_, qos_profile_);
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}
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ChargerTool::~ChargerTool()
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{
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}
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void ChargerTool::onInitialize()
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{
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PoseTool::onInitialize();
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setName("Charger Update");
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setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/SetGoal.png"));
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updateTopic();
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}
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void ChargerTool::updateTopic()
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{
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rclcpp::Node::SharedPtr raw_node =
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context_->getRosNodeAbstraction().lock()->get_raw_node();
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// TODO(anhosi, wjwwood): replace with abstraction for publishers once available
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publisher_ = raw_node->
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template create_publisher<geometry_msgs::msg::PoseStamped>(
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topic_property_->getStdString(), qos_profile_);
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clock_ = raw_node->get_clock();
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}
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void
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ChargerTool::onPoseSet(double x, double y, double theta)
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{
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std::string fixed_frame = context_->getFixedFrame().toStdString();
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geometry_msgs::msg::PoseStamped goal;
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goal.header.stamp = clock_->now();
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goal.header.frame_id = fixed_frame;
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goal.pose.position.x = x;
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goal.pose.position.y = y;
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goal.pose.position.z = 0.0;
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goal.pose.orientation = orientationAroundZAxis(theta);
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logPose("goal", goal.pose.position, goal.pose.orientation, theta, fixed_frame);
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publisher_->publish(goal);
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}
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} // namespace nav2_rviz_plugins
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#include <pluginlib/class_list_macros.hpp> // NOLINT
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PLUGINLIB_EXPORT_CLASS(nav2_rviz_plugins::ChargerTool, rviz_common::Tool)
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