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Add nav2_msgs/ParticleCloud display plugin #541
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83 changes: 83 additions & 0 deletions
83
...ugins/include/rviz_default_plugins/displays/particle_cloud/flat_weighted_arrows_array.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,83 @@ | ||
| /* | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
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| * Copyright (c) 2018, Bosch Software Innovations GmbH. | ||
| * Copyright (c) 2020, Sarthak Mittal. | ||
| * 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 Willow Garage, Inc. 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 OWNER 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. | ||
| */ | ||
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
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| #include <vector> | ||
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| #include <OgreManualObject.h> | ||
| #include <OgreMaterialManager.h> | ||
| #include <OgreSceneNode.h> | ||
| #include <OgreVector3.h> | ||
| #include <OgreQuaternion.h> | ||
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| #include "rviz_default_plugins/displays/particle_cloud/particle_cloud_display.hpp" | ||
| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| struct OgrePoseWithWeight; | ||
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| class RVIZ_DEFAULT_PLUGINS_PUBLIC FlatWeightedArrowsArray | ||
| { | ||
| public: | ||
| explicit FlatWeightedArrowsArray(Ogre::SceneManager * scene_manager_); | ||
| ~FlatWeightedArrowsArray(); | ||
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| void createAndAttachManualObject(Ogre::SceneNode * scene_node); | ||
| void updateManualObject( | ||
| Ogre::ColourValue color, | ||
| float alpha, | ||
| float min_length, | ||
| float max_length, | ||
| const std::vector<rviz_default_plugins::displays::OgrePoseWithWeight> & poses); | ||
| void clear(); | ||
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| private: | ||
| void setManualObjectMaterial(); | ||
| void setManualObjectVertices( | ||
| const Ogre::ColourValue & color, | ||
| float min_length, | ||
| float max_length, | ||
| const std::vector<rviz_default_plugins::displays::OgrePoseWithWeight> & poses); | ||
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| Ogre::SceneManager * scene_manager_; | ||
| Ogre::ManualObject * manual_object_; | ||
| Ogre::MaterialPtr material_; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__FLAT_WEIGHTED_ARROWS_ARRAY_HPP_ | ||
150 changes: 150 additions & 0 deletions
150
...t_plugins/include/rviz_default_plugins/displays/particle_cloud/particle_cloud_display.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,150 @@ | ||
| /* | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * Copyright (c) 2018, Bosch Software Innovations GmbH. | ||
| * Copyright (c) 2020, Sarthak Mittal. | ||
| * 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 Willow Garage, Inc. 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 OWNER 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. | ||
| */ | ||
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__PARTICLE_CLOUD_DISPLAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__PARTICLE_CLOUD_DISPLAY_HPP_ | ||
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| #include <memory> | ||
| #include <vector> | ||
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| #include "nav2_msgs/msg/particle_cloud.hpp" | ||
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| #include "rviz_rendering/objects/shape.hpp" | ||
| #include "rviz_common/message_filter_display.hpp" | ||
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| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| namespace Ogre | ||
| { | ||
| class ManualObject; | ||
| } // namespace Ogre | ||
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| namespace rviz_common | ||
| { | ||
| namespace properties | ||
| { | ||
| class EnumProperty; | ||
| class ColorProperty; | ||
| class FloatProperty; | ||
| } // namespace properties | ||
| } // namespace rviz_common | ||
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| namespace rviz_rendering | ||
| { | ||
| class Arrow; | ||
| class Axes; | ||
| } // namespace rviz_rendering | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| class FlatWeightedArrowsArray; | ||
| struct OgrePoseWithWeight | ||
| { | ||
| Ogre::Vector3 position; | ||
| Ogre::Quaternion orientation; | ||
| float weight; | ||
| }; | ||
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| /** @brief Displays a nav2_msgs/ParticleCloud message as a bunch of line-drawn weighted arrows. */ | ||
| class RVIZ_DEFAULT_PLUGINS_PUBLIC ParticleCloudDisplay : public | ||
| rviz_common::MessageFilterDisplay<nav2_msgs::msg::ParticleCloud> | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call | ||
| // initialize instead | ||
| ParticleCloudDisplay( | ||
| rviz_common::DisplayContext * display_context, | ||
| Ogre::SceneNode * scene_node); | ||
| ParticleCloudDisplay(); | ||
| ~ParticleCloudDisplay() override; | ||
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| void processMessage(nav2_msgs::msg::ParticleCloud::ConstSharedPtr msg) override; | ||
| void setShape(QString shape); // for testing | ||
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| protected: | ||
| void onInitialize() override; | ||
| void reset() override; | ||
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| private Q_SLOTS: | ||
| /// Update the interface and visible shapes based on the selected shape type. | ||
| void updateShapeChoice(); | ||
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| /// Update the arrow color. | ||
| void updateArrowColor(); | ||
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| /// Update arrow geometry | ||
| void updateGeometry(); | ||
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| private: | ||
| void initializeProperties(); | ||
| bool validateFloats(const nav2_msgs::msg::ParticleCloud & msg); | ||
| bool setTransform(std_msgs::msg::Header const & header); | ||
| void updateDisplay(); | ||
| void updateArrows2d(); | ||
| void updateArrows3d(); | ||
| void updateAxes(); | ||
| void updateArrow3dGeometry(); | ||
| void updateAxesGeometry(); | ||
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| std::unique_ptr<rviz_rendering::Axes> makeAxes(); | ||
| std::unique_ptr<rviz_rendering::Arrow> makeArrow3d(); | ||
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| std::vector<OgrePoseWithWeight> poses_; | ||
| std::unique_ptr<FlatWeightedArrowsArray> arrows2d_; | ||
| std::vector<std::unique_ptr<rviz_rendering::Arrow>> arrows3d_; | ||
| std::vector<std::unique_ptr<rviz_rendering::Axes>> axes_; | ||
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| Ogre::SceneNode * arrow_node_; | ||
| Ogre::SceneNode * axes_node_; | ||
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| rviz_common::properties::EnumProperty * shape_property_; | ||
| rviz_common::properties::ColorProperty * arrow_color_property_; | ||
| rviz_common::properties::FloatProperty * arrow_alpha_property_; | ||
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| rviz_common::properties::FloatProperty * arrow_min_length_property_; | ||
| rviz_common::properties::FloatProperty * arrow_max_length_property_; | ||
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| float min_length_; | ||
| float max_length_; | ||
| float length_scale_; | ||
| float head_radius_scale_; | ||
| float head_length_scale_; | ||
| float shaft_radius_scale_; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__PARTICLE_CLOUD__PARTICLE_CLOUD_DISPLAY_HPP_ |
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As you discussed, this could be a problem. I really don't want to add more dependencies to the core, as it is way too big already.
Stepping back, why can this plugin not live in
nav2_rviz_plugins? You already have the dependency available there and you have all of the infrastructure.There was a problem hiding this comment.
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I'd be more than happy to move this message to nav_msgs, so if you're OK with that then, I'll make that PR. We can discuss a home below.
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I think we should see it moved to
nav_msgsor havenav2_msgsaccepted intocommon_interfaces, which is ever is more suitable (sounds like the former). This step ensures the message type being visualized is broad and generic enough to justify shipping with rviz, and is not specific to the nav2 project specifically.