goalpoint_rviz_plugin

我们今天来看far planner里的第二个插件 goalpoint_rviz_plugin。先来看它的头文件：

#ifndef GOALPOINT_RVIZ_PLUGIN_WAYPOINT_TOOL_H
#define GOALPOINT_RVIZ_PLUGIN_WAYPOINT_TOOL_H

#include <sstream>
#include <ros/ros.h>
#include <QObject>

#include <sensor_msgs/Joy.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PointStamped.h>

#include "rviz/display_context.h"
#include "rviz/properties/string_property.h"
#include "rviz/default_plugin/tools/pose_tool.h"

namespace rviz
{
class StringProperty;

class GoalPointTool : public PoseTool
{
  Q_OBJECT
public:
  GoalPointTool();
  virtual ~GoalPointTool()
  {
  }
  virtual void onInitialize();

protected:
  virtual void odomHandler(const nav_msgs::Odometry::ConstPtr& odom);
  virtual void onPoseSet(double x, double y, double theta);

private Q_SLOTS:
  void updateTopic();

private:
  float vehicle_z;

  ros::NodeHandle nh_;
  ros::Subscriber sub_;
  ros::Publisher pub_;
  ros::Publisher pub_joy_;

  StringProperty* topic_property_;
};
}

#endif  // GOALPOINT_RVIZ_PLUGIN_WAYPOINT_TOOL_H

和之前的不一样，它是归在rivz下面的。也就是改写了rviz原本的PoseTool，我们可以看到GoalPointTool它继承自PoseTool。主要有这几个函数：

onInitialize()

odomHandler(const nav_msgs::Odometry::ConstPtr& odom)

onPoseSet(double x, double y, double theta)

updateTopic()

我们来看一下他们的实现：

首先是它的构造函数：

GoalPointTool::GoalPointTool()
{
  shortcut_key_ = 'w';

  topic_property_ = new StringProperty("Topic", "goalpoint", "The topic on which to publish goal waypiont for dynamic route planner.",
                                       getPropertyContainer(), SLOT(updateTopic()), this);
}

rviz: rviz::Tool Class Reference (ros.org)https://docs.ros.org/en/kinetic/api/rviz/html/c++/classrviz_1_1Tool.html shortcut_key应该是快捷键。topic_property @brief Property specialized for string values.

topic_property 中 topic是发送goal waypoint的节点，且默认为goalpoint节点。

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * 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.
 */
#ifndef STRING_PROPERTY_H
#define STRING_PROPERTY_H

#include <string>

#include <rviz/properties/property.h>

namespace rviz
{
/** @brief Property specialized for string values. */
class StringProperty : public Property
{
  Q_OBJECT
public:
  StringProperty(const QString& name = QString(),
                 const QString& default_value = QString(),
                 const QString& description = QString(),
                 Property* parent = nullptr,
                 const char* changed_slot = nullptr,
                 QObject* receiver = nullptr);

  std::string getStdString()
  {
    return getValue().toString().toStdString();
  }
  QString getString()
  {
    return getValue().toString();
  }

public Q_SLOTS:
  bool setString(const QString& str)
  {
    return setValue(str);
  }
  bool setStdString(const std::string& std_str)
  {
    return setValue(QString::fromStdString(std_str));
  }
};

} // end namespace rviz

#endif // STRING_PROPERTY_H

void GoalPointTool::onInitialize()
{
  PoseTool::onInitialize();
  setName("Goalpoint");
  updateTopic();
  vehicle_z = 0;
}

setName("Goalpoint");

Set the name of the tool. This is called by ToolManager during tool initialization. If you want a different name than it gives you, call this from onInitialize() (or thereafter).

void GoalPointTool::updateTopic()
{
  sub_ = nh_.subscribe<nav_msgs::Odometry> ("/state_estimation", 5, &GoalPointTool::odomHandler, this);
  pub_ = nh_.advertise<geometry_msgs::PointStamped>("/goal_point", 5);
  pub_joy_ = nh_.advertise<sensor_msgs::Joy>("/joy", 5);
}

updateTopic主要是订阅和发布节点，其中订阅姿态估计节点，消息类型是nav_msgs::Odometry信息，回调函数是GoalPointTool::odomHandler.

同时，发布节点 /goal_point 消息类型是geometry_msgs::PointStamped。还发布了一个ps2手柄的joy节点。

joy - ROS Wikihttp://wiki.ros.org/joy

void GoalPointTool::odomHandler(const nav_msgs::Odometry::ConstPtr& odom)
{
  vehicle_z = odom->pose.pose.position.z;
}

Far planner代码系列（5）

goalpoint_rviz_plugin