101 lines
2.9 KiB
C++
101 lines
2.9 KiB
C++
|
#ifndef PANEL_TEST_HPP
|
||
|
|
#define PANEL_TEST_HPP
|
||
|
|
|
||
|
|
//#ifndef Q_MOC_RUN
|
||
|
|
# include <ros/ros.h>
|
||
|
|
|
||
|
|
# include <rviz/panel.h>
|
||
|
|
//#endif
|
||
|
|
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
#include <QPainter>
|
||
|
|
#include <QLineEdit>
|
||
|
|
// #include <QDoubleValidator>
|
||
|
|
#include <QVBoxLayout>
|
||
|
|
#include <QHBoxLayout>
|
||
|
|
#include <QLabel>
|
||
|
|
#include <QTimer>
|
||
|
|
|
||
|
|
#include <interface_tests/InterfaceConfigT.h>
|
||
|
|
|
||
|
|
#define MAX_ERROR 999999999
|
||
|
|
|
||
|
|
class QLineEdit;
|
||
|
|
|
||
|
|
namespace interface_tests
|
||
|
|
{
|
||
|
|
// BEGIN_TUTORIAL
|
||
|
|
// Here we declare our new subclass of rviz::Panel. Every panel which
|
||
|
|
// can be added via the Panels/Add_New_Panel menu is a subclass of
|
||
|
|
// rviz::Panel.
|
||
|
|
//
|
||
|
|
class TestPanel: public rviz::Panel
|
||
|
|
{
|
||
|
|
// This class uses Qt slots and is a subclass of QObject, so it needs
|
||
|
|
// the Q_OBJECT macro.
|
||
|
|
Q_OBJECT
|
||
|
|
public:
|
||
|
|
// QWidget subclass constructors usually take a parent widget
|
||
|
|
// parameter (which usually defaults to 0). At the same time,
|
||
|
|
// pluginlib::ClassLoader creates instances by calling the default
|
||
|
|
// constructor (with no arguments). Taking the parameter and giving
|
||
|
|
// a default of 0 lets the default constructor work and also lets
|
||
|
|
// someone using the class for something else to pass in a parent
|
||
|
|
// widget as they normally would with Qt.
|
||
|
|
TestPanel( QWidget* parent = 0 );
|
||
|
|
|
||
|
|
// Now we declare overrides of rviz::Panel functions for saving and
|
||
|
|
// loading data from the config file. Here the data is the
|
||
|
|
// topic name.
|
||
|
|
virtual void load( const rviz::Config& config );
|
||
|
|
virtual void save( rviz::Config config ) const;
|
||
|
|
|
||
|
|
// Next come a couple of public Qt slots.
|
||
|
|
public Q_SLOTS:
|
||
|
|
// The control area, DriveWidget, sends its output to a Qt signal
|
||
|
|
// for ease of re-use, so here we declare a Qt slot to receive it.
|
||
|
|
// void setVel( float linear_velocity_, float angular_velocity_ );
|
||
|
|
|
||
|
|
// In this example setTopic() does not get connected to any signal
|
||
|
|
// (it is called directly), but it is easy to define it as a public
|
||
|
|
// slot instead of a private function in case it would be useful to
|
||
|
|
// some other user.
|
||
|
|
// void setTopic( const QString& topic );
|
||
|
|
void setError( const QString& error );
|
||
|
|
|
||
|
|
// Here we declare some internal slots.
|
||
|
|
protected Q_SLOTS:
|
||
|
|
// sendvel() publishes the current velocity values to a ROS
|
||
|
|
// topic. Internally this is connected to a timer which calls it 10
|
||
|
|
// times per second.
|
||
|
|
// void sendVel();
|
||
|
|
|
||
|
|
// updateError() reads the topic name from the QLineEdit and calls
|
||
|
|
// setTopic() with the result.
|
||
|
|
void updateError();
|
||
|
|
|
||
|
|
// Then we finish up with protected member variables.
|
||
|
|
protected:
|
||
|
|
|
||
|
|
// One-line text editor for entering the outgoing ROS topic name.
|
||
|
|
QLineEdit* max_error_editor;
|
||
|
|
|
||
|
|
// The current name of the output topic.
|
||
|
|
QString output_topic_;
|
||
|
|
|
||
|
|
// The ROS publisher for the command velocity.
|
||
|
|
ros::Publisher _config_publisher;
|
||
|
|
|
||
|
|
// The ROS node handle.
|
||
|
|
ros::NodeHandle nh_;
|
||
|
|
|
||
|
|
// The latest velocity values from the drive widget.
|
||
|
|
// float linear_velocity_;
|
||
|
|
// float angular_velocity_;
|
||
|
|
// END_TUTORIAL
|
||
|
|
};
|
||
|
|
|
||
|
|
} // end namespace rviz_plugin_tutorials
|
||
|
|
|
||
|
|
#endif
|