From 6f092b36d4c0994dc51fb1ac9a38c0ede7cea056 Mon Sep 17 00:00:00 2001 From: Unknown Date: Fri, 17 Aug 2018 11:11:24 +0200 Subject: [PATCH] =?UTF-8?q?Ajout=20acc=C3=A8s=20au=20topic=20du=20Interact?= =?UTF-8?q?iveMarkerServer?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 6 +++--- README.md~ | 3 +-- rviz_interface/launch/interface.launch | 1 + rviz_interface/launch/interface.launch~ | 4 +++- rviz_interface/launch/interface_matching.launch | 1 + rviz_interface/launch/interface_matching.launch~ | 1 - rviz_interface/src/InteractiveObject.cpp | 5 ++++- rviz_interface/src/RvizInterface.cpp | 14 +++++++++++--- rviz_interface/src/RvizInterface.hpp | 2 +- 9 files changed, 25 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index 2ac40fb..c0c4938 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo * Run : roslaunch rviz_interface interface.launch * Setup rviz : - set fixed frame to camera_rgb_optical_frame. - - add an InteractiveMarker and set topic to /RvizInterface/update. + - add an InteractiveMarker and set topic to (server_topic parameter)/update. - add a Marker and set topic to vizualization_topic parameter. - add the Rviz interface panel. @@ -63,7 +63,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo - roslaunch rviz_interface interface_plannar_seg.launch * Setup rviz : - set fixed frame to camera_rgb_optical_frame. - - add an InteractiveMarker and set topic to /RvizInterface/update. + - add an InteractiveMarker and set topic to (server_topic parameter)/update. - add a Marker and set topic to vizualization_topic parameter. - add the Rviz interface panel. - add a PointCloud2 and set topic to /camera/depth_registered/points. @@ -80,7 +80,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo - roslaunch rviz_interface interface_matching.launch * Setup rviz : - set fixed frame to camera_rgb_optical_frame. - - add an InteractiveMarker and set topic to /RvizInterface/update. + - add an InteractiveMarker and set topic to (server_topic parameter)/update. - add a Marker and set topic to vizualization_topic parameter. - add the Rviz interface panel. - add a PointCloud2 and set topic to /camera/depth_registered/points. diff --git a/README.md~ b/README.md~ index db99591..0c0b993 100644 --- a/README.md~ +++ b/README.md~ @@ -30,7 +30,6 @@ Thus refrences are required for the module to work properly. It can be loaded th ### Done ### Todo -rviz_interface - InteractiveObject : Solve the issue with the frame_id, so it could be chosen in the launch file. asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?). asift_matching - ROS_matcher : Working loader of images for reference. asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ? @@ -54,7 +53,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo * Run : roslaunch rviz_interface interface.launch * Setup rviz : - set fixed frame to camera_rgb_optical_frame. - - add an InteractiveMarker and set topic to /RvizInterface/update. + - add an InteractiveMarker and set topic to (server_topic parameter)/update. - add a Marker and set topic to vizualization_topic parameter. - add the Rviz interface panel. diff --git a/rviz_interface/launch/interface.launch b/rviz_interface/launch/interface.launch index f7041ff..2586b0b 100644 --- a/rviz_interface/launch/interface.launch +++ b/rviz_interface/launch/interface.launch @@ -9,6 +9,7 @@ [3, 2, 1, 0] + diff --git a/rviz_interface/launch/interface.launch~ b/rviz_interface/launch/interface.launch~ index ac77ab8..2586b0b 100644 --- a/rviz_interface/launch/interface.launch~ +++ b/rviz_interface/launch/interface.launch~ @@ -3,11 +3,13 @@ - + + ["Foo", "KungFoo", "Panda", "Boo"] [3, 2, 1, 0] + diff --git a/rviz_interface/launch/interface_matching.launch b/rviz_interface/launch/interface_matching.launch index 9460e0d..157d5ce 100644 --- a/rviz_interface/launch/interface_matching.launch +++ b/rviz_interface/launch/interface_matching.launch @@ -8,6 +8,7 @@ [3, 2, 1, 0] + diff --git a/rviz_interface/launch/interface_matching.launch~ b/rviz_interface/launch/interface_matching.launch~ index 84b8b26..9460e0d 100644 --- a/rviz_interface/launch/interface_matching.launch~ +++ b/rviz_interface/launch/interface_matching.launch~ @@ -3,7 +3,6 @@ - ["Foo", "KungFoo", "Panda", "Boo"] [3, 2, 1, 0] diff --git a/rviz_interface/src/InteractiveObject.cpp b/rviz_interface/src/InteractiveObject.cpp index 0b5e330..3d2a0df 100644 --- a/rviz_interface/src/InteractiveObject.cpp +++ b/rviz_interface/src/InteractiveObject.cpp @@ -8,7 +8,10 @@ unsigned int InteractiveObject::nextObjectID = 1; -//Constructeur +/* + * Constructor. + * + */ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true) { _objectID = nextObjectID++; diff --git a/rviz_interface/src/RvizInterface.cpp b/rviz_interface/src/RvizInterface.cpp index 9a0d21d..1355871 100644 --- a/rviz_interface/src/RvizInterface.cpp +++ b/rviz_interface/src/RvizInterface.cpp @@ -7,8 +7,12 @@ #include "RvizInterface.hpp" -//Constructeur -RvizInterface::RvizInterface(): _server("RvizInterface") +/* + * Constructor. + * Launch the Rviz Interface with on the parameters from the launch file. + * server_topic : Topic name of the interactive markers server. + */ +RvizInterface::RvizInterface(const std::string & server_topic): _server(server_topic) { std::string objective_topic, vizualization_topic, config_topic, position_topic; std::vector object_names; @@ -153,7 +157,11 @@ int main(int argc, char **argv) //Initiate ROS ros::init(argc, argv, "Rviz_Interface"); - RvizInterface Interface; + ros::NodeHandle nh; + std::string server_topic; + nh.param("server_topic", server_topic,"RvizInterface"); + + RvizInterface Interface(server_topic); ros::spin(); diff --git a/rviz_interface/src/RvizInterface.hpp b/rviz_interface/src/RvizInterface.hpp index bb12bc1..33506bd 100644 --- a/rviz_interface/src/RvizInterface.hpp +++ b/rviz_interface/src/RvizInterface.hpp @@ -39,7 +39,7 @@ protected: std::vector _objects; public: - RvizInterface(); + RvizInterface(const std::string & server_topic); ~RvizInterface(); //Fonction Callback du panel Rviz gérant les configurations