ros: added MapGraph rviz plugin to show trajectory, added ros service PublishMap

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1682 f169173b-cf89-36c8-b27e-44dbe73f0c83

src/rviz/MapGraphDisplay.h

@@ -0,0 +1,85 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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 Universite de Sherbrooke 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 HOLDER 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.
+*/
+
+
+#ifndef RVIZ_PATH_DISPLAY_H
+#define RVIZ_PATH_DISPLAY_H
+
+#include <rtabmap/MapData.h>
+
+#include <rviz/message_filter_display.h>
+
+namespace Ogre
+{
+class ManualObject;
+}
+
+namespace rviz
+{
+class ColorProperty;
+class FloatProperty;
+}
+
+using namespace rviz;
+
+namespace rtabmap
+{
+
+/**
+ * \class MapGraphDisplay
+ * \brief Displays the graph in rtabmap::MapData message
+ */
+class MapGraphDisplay: public MessageFilterDisplay<rtabmap::MapData>
+{
+Q_OBJECT
+public:
+  MapGraphDisplay();
+  virtual ~MapGraphDisplay();
+
+  /** @brief Overridden from Display. */
+  virtual void reset();
+
+protected:
+  /** @brief Overridden from Display. */
+  virtual void onInitialize();
+
+  /** @brief Overridden from MessageFilterDisplay. */
+  void processMessage( const rtabmap::MapData::ConstPtr& msg );
+
+private:
+  void destroyObjects();
+
+  std::vector<Ogre::ManualObject*> manual_objects_;
+
+  ColorProperty* color_property_;
+  FloatProperty* alpha_property_;
+};
+
+} // namespace rviz
+
+#endif /* RVIZ_PATH_DISPLAY_H */
+