From 21c91e252e3e1fa6f69ea511f6113b2eb6666ace Mon Sep 17 00:00:00 2001
From: Victor Reijgwart <victorreijgwart@gmail.com>
Date: Thu, 12 Dec 2024 18:11:17 +0100
Subject: [PATCH] Preselect last loaded map in file dialog to enable easy
 reloads in Rviz

---
 .../ros1/wavemap_rviz_plugin/src/wavemap_map_display.cc    | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/interfaces/ros1/wavemap_rviz_plugin/src/wavemap_map_display.cc b/interfaces/ros1/wavemap_rviz_plugin/src/wavemap_map_display.cc
index a9452c92e..872c28253 100644
--- a/interfaces/ros1/wavemap_rviz_plugin/src/wavemap_map_display.cc
+++ b/interfaces/ros1/wavemap_rviz_plugin/src/wavemap_map_display.cc
@@ -275,7 +275,12 @@ void WavemapMapDisplay::requestWholeMapCallback() {
 void WavemapMapDisplay::loadMapFromDiskCallback() {
   ProfilerZoneScoped;
   // Open file selection dialog
-  const auto filepath_qt = QFileDialog::getOpenFileName();
+  const bool has_last_path =
+      std::filesystem::exists(load_map_from_disk_property_.getAtRestValue());
+  const std::string last_path =
+      has_last_path ? load_map_from_disk_property_.getAtRestValue() : "";
+  const auto filepath_qt = QFileDialog::getOpenFileName(
+      nullptr, "Choose a wavemap map file", last_path.c_str());
 
   // Check if the chosen filepath is not empty
   if (filepath_qt.isEmpty()) {