Coresense instrumentation panel

coresense_instrumentation_rviz/CMakeLists.txt

@@ -0,0 +1,117 @@
+cmake_minimum_required(VERSION 3.5)
+project(coresense_instrumentation_rviz)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+# Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets Test Concurrent)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_default_plugins REQUIRED)
+find_package(rviz_ogre_vendor REQUIRED)
+find_package(rviz_rendering REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(coresense_instrumentation_interfaces REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+
+set(coresense_instrumentation_rviz_headers_to_moc
+  include/coresense_instrumentation_rviz/CoresenseInstrumentationPanel.hpp
+)
+
+include_directories(
+  include
+)
+
+set(library_name ${PROJECT_NAME})
+
+add_library(${library_name} SHARED
+  src/CoresenseInstrumentationPanel.cpp
+  ${coresense_instrumentation_rviz_headers_to_moc}
+)
+
+set(dependencies
+  geometry_msgs
+  pluginlib
+  Qt5
+  rclcpp
+  rclcpp_lifecycle
+  rviz_common
+  rviz_default_plugins
+  rviz_ogre_vendor
+  rviz_rendering
+  std_msgs
+  tf2_geometry_msgs
+  coresense_instrumentation_interfaces
+  lifecycle_msgs
+)
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+target_include_directories(${library_name} PUBLIC
+  ${Qt5Widgets_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}
+)
+
+target_link_libraries(${library_name}
+  rviz_common::rviz_common
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+# TODO: Make this specific to this project (not rviz default plugins)
+target_compile_definitions(${library_name} PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+install(
+  TARGETS ${library_name}
+  EXPORT ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_targets(${library_name} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  Qt5
+  rviz_common
+  geometry_msgs
+  map_msgs
+  rclcpp
+  coresense_instrumentation_interfaces
+  lifecycle_msgs
+)
+
+ament_package()

coresense_instrumentation_rviz/config/coresense_instrumentation.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 89
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 520
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: coresense_instrumentation_rviz/Coresense Instrumentation Panel
+    Name: Coresense Instrumentation Panel
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /coresense/image_raw
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.5268104076385498
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.027353262528777122
+        Y: 0.12003128975629807
+        Z: 0.11110114306211472
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.38539788126945496
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.8103979825973511
+    Saved: ~
+Window Geometry:
+  Coresense Instrumentation Panel:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1050
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000037cfc020000000bfb0000001200530065006c0065006300740069006f006e000000003d000000820000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000480043006f0072006500730065006e0073006500200049006e0073007400720075006d0065006e0074006100740069006f006e0020005200760069007a002000500061006e0065006c01000002de000000b50000000000000000fb0000001e0043006f0072006500730065006e00730065005f00500061006e0065006c0100000176000001180000000000000000fb0000000a0049006d00610067006501000002e1000000d80000002800ffffff000000010000015d0000037cfc0200000004fb0000003e0043006f0072006500730065006e0073006500200049006e0073007400720075006d0065006e0074006100740069006f006e002000500061006e0065006c010000003d0000037c0000008500fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000251000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c10000037c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0