ROS_Robot/mapviz
1
0
Fork 0
mirror of https://github.com/swri-robotics/mapviz.git synced 2025-09-15 17:48:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge branch 'pose_publisher' into pose_array_and_publisher

Browse Source
This commit is contained in:
Kevin Nickels 2021-01-22 14:50:12 -06:00
commit ba0a265d79
1 changed files with 24 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
mapviz_plugins/src/pose_publisher_plugin.cpp
View File

@ -56,8 +56,8 @@ PosePublisherPlugin::PosePublisherPlugin() :
p3.setColor(QPalette::Text, Qt::green);
ui_.status->setPalette(p3);
QObject::connect(ui_.pushButtonPose, SIGNAL(toggled()),
this, SLOT(on_pushButtonPose_toggled()));
QObject::connect(ui_.pushButtonPose, SIGNAL(toggled(bool)),
this, SLOT(on_pushButtonPose_toggled(bool)));
QObject::connect(ui_.topic, SIGNAL(textEdited(const QString&)),
this, SLOT(topicChanged(const QString&)));
@ -100,6 +100,8 @@ bool PosePublisherPlugin::Initialize(QGLWidget* canvas)
{
map_canvas_ = static_cast<mapviz::MapCanvas*>(canvas);
map_canvas_->installEventFilter(this);
topicChanged(ui_.topic->text()); // set up the publish topic
initialized_ = true;
return true;
}
@ -122,7 +124,6 @@ bool PosePublisherPlugin::eventFilter(QObject *object, QEvent* event)
void PosePublisherPlugin::timerCallback(const ros::TimerEvent &)
{
ui_.pushButtonPose->setEnabled( true );
PrintInfoHelper( ui_.status, "OK");
}
@ -215,6 +216,13 @@ bool PosePublisherPlugin::handleMouseRelease(QMouseEvent* event)
PrintWarning(ss.str());
}
if (pose_pub_==nullptr)
{
std::stringstream ss;
ss << "Attempting to publish to " << ui_.topic->text().toStdString().c_str()
<< " but it's not set up...";
PrintError(ss.str());
}
pose_pub_.publish(pose);
std::stringstream ss;
ss << "Pose published to topic: " << ui_.topic->text().toStdString().c_str()
@ -334,7 +342,6 @@ void PosePublisherPlugin::on_pushButtonPose_toggled(bool checked)
frames.push_back(swri_transform_util::_wgs84_frame);
}
if (ui_.outputframe->count() >= 0 &&
static_cast<size_t>(ui_.outputframe->count()) == frames.size())
{
@ -360,16 +367,25 @@ void PosePublisherPlugin::on_pushButtonPose_toggled(bool checked)
}
if (output_frame != "")
{
{
// Add output_frame to frame list if no already there.
int index = ui_.outputframe->findText(output_frame.c_str());
if (index < 0)
{
{
ui_.outputframe->addItem(output_frame.c_str());
}
}
// Get index of output_frame in list
index = ui_.outputframe->findText(output_frame.c_str());
ui_.outputframe->setCurrentIndex(index);
}
}
// output_frame is ""
else // use map frame
{
PrintWarning("using map target frame as fallback");
int index = ui_.outputframe->findText(QString("map"));
ui_.outputframe->setCurrentIndex(index);
}
}
}