X-lanni
55 lines
1.5 KiB
C++
55 lines
1.5 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/goal_tool.hpp"
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#include <memory>
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#include <string>
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#include "nav2_rviz_plugins/goal_common.hpp"
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#include "rviz_common/display_context.hpp"
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#include "rviz_common/load_resource.hpp"
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namespace nav2_rviz_plugins
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{
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GoalTool::GoalTool()
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: rviz_default_plugins::tools::PoseTool()
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{
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shortcut_key_ = 'g';
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}
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GoalTool::~GoalTool()
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{
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}
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void GoalTool::onInitialize()
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{
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PoseTool::onInitialize();
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setName("Nav2 Goal");
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setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/SetGoal.png"));
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}
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void
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GoalTool::onPoseSet(double x, double y, double theta)
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{
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// Set goal pose on global object GoalUpdater to update nav2 Panel
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GoalUpdater.setGoal(x, y, theta, context_->getFixedFrame());
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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::GoalTool, rviz_common::Tool)
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