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Added TwistStamped and AccelStamped default plugins (#991)
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
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rviz_default_plugins/include/rviz_default_plugins/displays/accel/accel_display.hpp
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| /* | ||
| * Copyright (c) 2023, Open Source Robotics Foundation, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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|
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__ACCEL__ACCEL_DISPLAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__ACCEL__ACCEL_DISPLAY_HPP_ | ||
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| #include <memory> | ||
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| #include "rviz_default_plugins/displays/screw/screw_display.hpp" | ||
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| #include <geometry_msgs/msg/accel_stamped.hpp> | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| class AccelStampedDisplay : public ScrewDisplay<geometry_msgs::msg::AccelStamped> | ||
| { | ||
| Q_OBJECT | ||
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| // Function to handle an incoming ROS message. | ||
| void processMessage(geometry_msgs::msg::AccelStamped::ConstSharedPtr msg) override; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__ACCEL__ACCEL_DISPLAY_HPP_ |
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rviz_default_plugins/include/rviz_default_plugins/displays/screw/screw_display.hpp
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| /* | ||
| * Copyright (c) 2023, Open Source Robotics Foundation, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__SCREW__SCREW_DISPLAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__SCREW__SCREW_DISPLAY_HPP_ | ||
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| #include <deque> | ||
| #include <memory> | ||
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| #include <geometry_msgs/msg/vector3.hpp> | ||
| #include <rviz_common/message_filter_display.hpp> | ||
| #include <rviz_common/properties/bool_property.hpp> | ||
| #include <rviz_common/properties/color_property.hpp> | ||
| #include <rviz_common/properties/int_property.hpp> | ||
| #include <rviz_common/properties/float_property.hpp> | ||
| #include <rviz_rendering/objects/screw_visual.hpp> | ||
| #include <std_msgs/msg/header.hpp> | ||
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| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| template<class MessageType> | ||
| class RVIZ_DEFAULT_PLUGINS_PUBLIC ScrewDisplay | ||
| : public rviz_common::MessageFilterDisplay<MessageType> | ||
| { | ||
| public: | ||
| // Constructor. pluginlib::ClassLoader creates instances by calling | ||
| // the default constructor, so make sure you have one. | ||
| ScrewDisplay(); | ||
| ~ScrewDisplay() override = default; | ||
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| protected: | ||
| // Overrides of public virtual functions from the Display class. | ||
| void onInitialize() override; | ||
| void reset() override; | ||
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| // Helper function to properties for all visuals. | ||
| void updateProperties(); | ||
| void updateHistoryLength(); | ||
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| void processMessagePrivate( | ||
| const std_msgs::msg::Header & header, | ||
| const geometry_msgs::msg::Vector3 & linear, | ||
| const geometry_msgs::msg::Vector3 & angular); | ||
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| // Storage for the list of visuals par each joint intem | ||
| // Storage for the list of visuals. It is a circular buffer where | ||
| // data gets popped from the front (oldest) and pushed to the back (newest) | ||
| std::deque<std::shared_ptr<rviz_rendering::ScrewVisual>> visuals_; | ||
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| // Property objects for user-editable properties. | ||
| rviz_common::properties::ColorProperty * linear_color_property_; | ||
| rviz_common::properties::ColorProperty * angular_color_property_; | ||
| rviz_common::properties::FloatProperty * alpha_property_; | ||
| rviz_common::properties::FloatProperty * linear_scale_property_; | ||
| rviz_common::properties::FloatProperty * angular_scale_property_; | ||
| rviz_common::properties::FloatProperty * width_property_; | ||
| rviz_common::properties::IntProperty * history_length_property_; | ||
| rviz_common::properties::BoolProperty * hide_small_values_property_; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__SCREW__SCREW_DISPLAY_HPP_ |
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rviz_default_plugins/include/rviz_default_plugins/displays/twist/twist_display.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| /* | ||
| * Copyright (c) 2023, Open Source Robotics Foundation, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__TWIST__TWIST_DISPLAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__TWIST__TWIST_DISPLAY_HPP_ | ||
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| #include <memory> | ||
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| #include "rviz_default_plugins/displays/screw/screw_display.hpp" | ||
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| #include <geometry_msgs/msg/twist_stamped.hpp> | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| class TwistStampedDisplay : public ScrewDisplay<geometry_msgs::msg::TwistStamped> | ||
| { | ||
| Q_OBJECT | ||
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| // Function to handle an incoming ROS message. | ||
| void processMessage(geometry_msgs::msg::TwistStamped::ConstSharedPtr msg) override; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__TWIST__TWIST_DISPLAY_HPP_ |
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49 changes: 49 additions & 0 deletions
49
rviz_default_plugins/src/rviz_default_plugins/displays/accel/accel_display.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| /* | ||
| * Copyright (c) 2023, Open Source Robotics Foundation, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
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| #include <rviz_default_plugins/displays/accel/accel_display.hpp> | ||
|
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| // Tell pluginlib about these classes. It is important to do this in | ||
| // global scope, outside our package's namespace. | ||
| #include <pluginlib/class_list_macros.hpp> | ||
| PLUGINLIB_EXPORT_CLASS( | ||
| rviz_default_plugins::displays::AccelStampedDisplay, | ||
| rviz_common::Display) | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| // Function to handle an incoming ROS message. | ||
| void AccelStampedDisplay::processMessage(geometry_msgs::msg::AccelStamped::ConstSharedPtr msg) | ||
| { | ||
| processMessagePrivate(msg->header, msg->accel.linear, msg->accel.angular); | ||
| } | ||
| } // namespace displays | ||
| } // namespace rviz_default_plugins |
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