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created ros2 branch

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matlabbe
2020-01-30 17:18:48 -05:00
parent d80a66a724
commit e6ea46f5f0
86 changed files with 9079 additions and 9079 deletions
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src/rviz/MapGraphDisplay.cpp
+18 -27
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@@ -25,21 +25,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <boost/bind.hpp>
#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
#include <OgreManualObject.h>
#include <OgreBillboardSet.h>
#include <OgreMatrix4.h>
#include <tf/transform_listener.h>
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include "rviz/properties/color_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/int_property.h"
#include <rviz_common/display_context.hpp>
#include "rviz_common/properties/color_property.hpp"
#include "rviz_common/properties/float_property.hpp"
#include "rviz_common/properties/int_property.hpp"
#include "rviz_common/logging.hpp"
#include "MapGraphDisplay.h"
@@ -51,20 +41,20 @@ namespace rtabmap_ros
MapGraphDisplay::MapGraphDisplay()
{
color_neighbor_property_ = new rviz::ColorProperty( "Neighbor", Qt::blue,
color_neighbor_property_ = new rviz_common::properties::ColorProperty( "Neighbor", Qt::blue,
"Color to draw neighbor links.", this );
color_neighbor_merged_property_ = new rviz::ColorProperty( "Merged neighbor", QColor(255,170,0),
color_neighbor_merged_property_ = new rviz_common::properties::ColorProperty( "Merged neighbor", QColor(255,170,0),
"Color to draw merged neighbor links.", this );
color_global_property_ = new rviz::ColorProperty( "Global loop closure", Qt::red,
color_global_property_ = new rviz_common::properties::ColorProperty( "Global loop closure", Qt::red,
"Color to draw global loop closure links.", this );
color_local_property_ = new rviz::ColorProperty( "Local loop closure", Qt::yellow,
color_local_property_ = new rviz_common::properties::ColorProperty( "Local loop closure", Qt::yellow,
"Color to draw local loop closure links.", this );
color_user_property_ = new rviz::ColorProperty( "User", Qt::red,
color_user_property_ = new rviz_common::properties::ColorProperty( "User", Qt::red,
"Color to draw user links.", this );
color_virtual_property_ = new rviz::ColorProperty( "Virtual", Qt::magenta,
color_virtual_property_ = new rviz_common::properties::ColorProperty( "Virtual", Qt::magenta,
"Color to draw virtual links.", this );
alpha_property_ = new rviz::FloatProperty( "Alpha", 1.0,
alpha_property_ = new rviz_common::properties::FloatProperty( "Alpha", 1.0,
"Amount of transparency to apply to the path.", this );
}
@@ -95,11 +85,11 @@ void MapGraphDisplay::destroyObjects()
manual_objects_.clear();
}
void MapGraphDisplay::processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg )
void MapGraphDisplay::processMessage( const rtabmap_ros::msg::MapGraph::ConstSharedPtr msg )
{
if(!(msg->poses.size() == msg->posesId.size()))
if(!(msg->poses.size() == msg->poses_id.size()))
{
ROS_ERROR("rtabmap_ros::MapGraph: Error pose ids and poses must have all the same size.");
RVIZ_COMMON_LOG_ERROR("rtabmap_ros::MapGraph: Error pose ids and poses must have all the same size.");
return;
}
@@ -115,7 +105,8 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg
Ogre::Quaternion orientation;
if( !context_->getFrameManager()->getTransform( msg->header, position, orientation ))
{
ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
RVIZ_COMMON_LOG_ERROR( uFormat("Error transforming from frame '%s' to frame '%s'",
msg->header.frame_id.c_str(), qPrintable( fixed_frame_ )));
}
Ogre::Matrix4 transform( orientation );
@@ -179,4 +170,4 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg
} // namespace rtabmap_ros
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rtabmap_ros::MapGraphDisplay, rviz::Display )
PLUGINLIB_EXPORT_CLASS( rtabmap_ros::MapGraphDisplay, rviz_common::Display )