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TF visualization plugin config (#32)
* Add tf plugin gui config * Use ign-gui plugin instead of pluginlib * Add template tf gui config Signed-off-by: Sarathkrishnan Ramesh <[email protected]> * Add visibility options for frame axis, arrow and names Signed-off-by: Sarathkrishnan Ramesh <[email protected]> * Add more config options * Set axes arrow head visibility * Change marker scale Signed-off-by: Sarathkrishnan Ramesh <[email protected]> * Add tf frames to tree view Signed-off-by: Sarathkrishnan Ramesh <[email protected]> * Add option to set individual frame visibility * Add checkboxes to tree view frame list * Update documentation Signed-off-by: Sarathkrishnan Ramesh <[email protected]> * Add option to set visibility of all frames Signed-off-by: Sarathkrishnan Ramesh <[email protected]>
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ign_rviz_plugins/include/ignition/rviz/plugins/TFDisplay.hpp
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| // Copyright (c) 2020 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // 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. | ||
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| #ifndef IGNITION__RVIZ__PLUGINS__TFDISPLAY_HPP_ | ||
| #define IGNITION__RVIZ__PLUGINS__TFDISPLAY_HPP_ | ||
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| #include <ignition/rendering.hh> | ||
| #include <tf2_msgs/msg/tf_message.hpp> | ||
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| #include <QStandardItem> | ||
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| #include <map> | ||
| #include <memory> | ||
| #include <mutex> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include "ignition/rviz/plugins/message_display_base.hpp" | ||
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| namespace ignition | ||
| { | ||
| namespace rviz | ||
| { | ||
| namespace plugins | ||
| { | ||
| //////////////////////////////////////////////////////////////////////////////// | ||
| class FrameModel : public QStandardItemModel | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| // Roles for tree view frames | ||
| enum FrameRoles | ||
| { | ||
| NameRole = Qt::UserRole + 1 | ||
| }; | ||
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| // Constructor | ||
| explicit FrameModel(QObject * _parent = 0); | ||
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| Q_INVOKABLE void addFrame(const QString & _name, QStandardItem * _parentItem); | ||
| Q_INVOKABLE QStandardItem * addParentRow(const QString & _name); | ||
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| QVariant data(const QModelIndex & _index, int _role = Qt::DisplayRole) const; | ||
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| protected: | ||
| QHash<int, QByteArray> roleNames() const; | ||
| }; | ||
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| //////////////////////////////////////////////////////////////////////////////// | ||
| class TFDisplay : public MessageDisplay<tf2_msgs::msg::TFMessage> | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| /** | ||
| * Constructor for tf visualization plugin | ||
| */ | ||
| TFDisplay(); | ||
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| // Destructor | ||
| ~TFDisplay(); | ||
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| // Documentation inherited | ||
| void LoadConfig(const tinyxml2::XMLElement * /*_pluginElem*/); | ||
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| // Documentation Inherited | ||
| void initialize(rclcpp::Node::SharedPtr); | ||
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| // Documentation Inherited | ||
| void callback(const tf2_msgs::msg::TFMessage::SharedPtr) {} | ||
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| // Documentation inherited | ||
| void setTopic(std::string) {} | ||
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| /** | ||
| * @brief Qt eventFilters. Original documentation can be found | ||
| * <a href="https://doc.qt.io/qt-5/qobject.html#eventFilter">here</a> | ||
| */ | ||
| bool eventFilter(QObject *, QEvent *); | ||
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| // Documentation inherited | ||
| void setFrameManager(std::shared_ptr<common::FrameManager> _frameManager); | ||
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| /** | ||
| * @brief Set axis visibility | ||
| * @param[in] _visible Axes visibility | ||
| */ | ||
| Q_INVOKABLE void showAxes(const bool & _visible); | ||
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| /** | ||
| * @brief Set arrow visibility | ||
| * @param[in] _visible Arrow visibility | ||
| */ | ||
| Q_INVOKABLE void showArrows(const bool & _visible); | ||
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| /** | ||
| * @brief Set frame name visibility | ||
| * @param[in] _visible Frame name visibility | ||
| */ | ||
| Q_INVOKABLE void showNames(const bool & _visible); | ||
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| /** | ||
| * @brief Set axes arrow head visibility | ||
| * @param[in] _visible Axes arrow head visibility | ||
| */ | ||
| Q_INVOKABLE void showAxesHead(const bool & _visible); | ||
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| /** | ||
| * @brief Set marker scale | ||
| * @param _scale TF visual marker scale | ||
| */ | ||
| Q_INVOKABLE void setMarkerScale(const float & _scale); | ||
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| /** | ||
| * @brief Set frame visibility | ||
| * @param[in] _frame Frame name | ||
| * @param[in] _visible Frame visibility | ||
| */ | ||
| Q_INVOKABLE void setFrameVisibility(const QString & _frame, const bool & _visible); | ||
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| protected: | ||
| /** | ||
| * @brief Create custom arrow visual for visualizing tf links | ||
| * @return tf arrow visual | ||
| */ | ||
| rendering::ArrowVisualPtr createTfArrow(); | ||
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| /** | ||
| * @brief Update tf visualization | ||
| */ | ||
| void updateTF(); | ||
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| /** | ||
| * @brief Creates a frame visual which includes an axis | ||
| * an arrow, and text visual | ||
| * @return A frame visual | ||
| */ | ||
| rendering::VisualPtr createVisualFrame(); | ||
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| /** | ||
| * @brief Update tree view and local frame list | ||
| */ | ||
| void refresh(); | ||
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| public: | ||
| // Tree view frame model | ||
| FrameModel * model; | ||
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| private: | ||
| ignition::rendering::AxisVisualPtr axis; | ||
| ignition::rendering::RenderEngine * engine; | ||
| ignition::rendering::ScenePtr scene; | ||
| ignition::rendering::VisualPtr tfRootVisual; | ||
| std::mutex lock; | ||
| bool axesVisible; | ||
| bool arrowsVisible; | ||
| bool namesVisible; | ||
| bool axesHeadVisible; | ||
| float markerScale; | ||
| QStandardItem * parentRow; | ||
| std::map<std::string, bool> frameInfo; | ||
| }; | ||
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| } // namespace plugins | ||
| } // namespace rviz | ||
| } // namespace ignition | ||
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| #endif // IGNITION__RVIZ__PLUGINS__TFDISPLAY_HPP_ |
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