void CovarianceDisplay::createProperties ()
{
topic_property_ =
property_manager_->createProperty<rviz::ROSTopicStringProperty>
("Topic",
property_prefix_,
boost::bind (&CovarianceDisplay::getTopic, this),
boost::bind (&CovarianceDisplay::setTopic, this, _1),
parent_category_,
this );
setPropertyHelpText
(topic_property_,
"geometry_msgs::PoseWithCovarianceStamped topic to subscribe to.");
rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock ();
topic_prop->setMessageType
(ros::message_traits::datatype
<geometry_msgs::PoseWithCovarianceStamped> ());
color_property_ =
property_manager_->createProperty<rviz::ColorProperty>
("Color",
property_prefix_,
boost::bind (&CovarianceDisplay::getColor, this),
boost::bind (&CovarianceDisplay::setColor, this, _1),
parent_category_,
this);
setPropertyHelpText
(color_property_, "Color to draw the ellipse.");
alpha_property_ =
property_manager_->createProperty<rviz::FloatProperty>
("Alpha",
property_prefix_,
boost::bind (&CovarianceDisplay::getAlpha, this),
boost::bind (&CovarianceDisplay::setAlpha, this, _1),
parent_category_,
this);
setPropertyHelpText
(alpha_property_, "0 is fully transparent, 1.0 is fully opaque.");
scale_property_ =
property_manager_->createProperty<rviz::FloatProperty>
("Scale",
property_prefix_,
boost::bind (&CovarianceDisplay::getScale, this),
boost::bind (&CovarianceDisplay::setScale, this, _1),
parent_category_,
this);
setPropertyHelpText
(scale_property_, "Ellipse scale factor.");
}
void NXTUltrasonicDisplay::createProperties()
{
topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getTopic, this ),
boost::bind( &NXTUltrasonicDisplay::setTopic, this, _1 ), parent_category_, this );
setPropertyHelpText(topic_property_, "nxt_msgs::Range topic to subscribe to.");
rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
topic_prop->setMessageType(ros::message_traits::datatype<nxt_msgs::Range>());
color_property_ = property_manager_->createProperty<rviz::ColorProperty>( "Color", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getColor, this ),
boost::bind( &NXTUltrasonicDisplay::setColor, this, _1 ), parent_category_, this );
setPropertyHelpText(color_property_, "Color to draw the range.");
alpha_property_ = property_manager_->createProperty<rviz::FloatProperty>( "Alpha", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getAlpha, this ),
boost::bind( &NXTUltrasonicDisplay::setAlpha, this, _1 ), parent_category_, this );
setPropertyHelpText(alpha_property_, "Amount of transparency to apply to the range.");
}
void CButCobDisplay::createProperties()
{
// Create some properties
rviz::CategoryPropertyWPtr category = property_manager_->createCategory( "Camera position", property_prefix_, parent_category_ );
if( category.expired() )
{
std::cerr << "Pointer expired..." << std::endl;
return;
}
m_property_position = property_manager_->createProperty<rviz::StringProperty>( "Position: ", property_prefix_,
boost::bind( &CButCobDisplay::getCameraPositionString, this),
boost::bind( &CButCobDisplay::setCameraPositionString, this, _1),
parent_category_ );
//m_property_position.lock();
if( m_property_position.expired() )
{
std::cerr << "Property expired... " << std::endl;
}
// Set help text
setPropertyHelpText(m_property_position, "Current camera position.");
}
void AxesDisplay::createProperties()
{
frame_property_ = property_manager_->createProperty<TFFrameProperty>("Reference Frame", property_prefix_, boost::bind(&AxesDisplay::getFrame, this),
boost::bind(&AxesDisplay::setFrame, this, _1), parent_category_, this);
setPropertyHelpText(frame_property_, "The TF frame these axes will use for their origin.");
length_property_ = property_manager_->createProperty<FloatProperty>( "Length", property_prefix_, boost::bind( &AxesDisplay::getLength, this ),
boost::bind( &AxesDisplay::setLength, this, _1 ), parent_category_, this );
FloatPropertyPtr float_prop = length_property_.lock();
float_prop->setMin( 0.0001 );
setPropertyHelpText(length_property_, "Length of each axis, in meters.");
radius_property_ = property_manager_->createProperty<FloatProperty>( "Radius", property_prefix_, boost::bind( &AxesDisplay::getRadius, this ),
boost::bind( &AxesDisplay::setRadius, this, _1 ), parent_category_, this );
float_prop = radius_property_.lock();
float_prop->setMin( 0.0001 );
setPropertyHelpText(radius_property_, "Width of each axis, in meters.");
}
void CameraDisplaySave::createProperties()
{
topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Image Topic", property_prefix_, boost::bind( &CameraDisplaySave::getTopic, this ),
boost::bind( &CameraDisplaySave::setTopic, this, _1 ), parent_category_, this );
setPropertyHelpText(topic_property_, "sensor_msgs::Image topic to subscribe to. The topic must be a well-formed <strong>camera</strong> topic, and in order to work properly must have a matching <strong>camera_info<strong> topic.");
ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::Image>());
alpha_property_ = property_manager_->createProperty<FloatProperty>( "Alpha", property_prefix_, boost::bind( &CameraDisplaySave::getAlpha, this ),
boost::bind( &CameraDisplaySave::setAlpha, this, _1 ), parent_category_, this );
setPropertyHelpText(alpha_property_, "The amount of transparency to apply to the camera image.");
transport_property_ = property_manager_->createProperty<EditEnumProperty>("Transport Hint", property_prefix_, boost::bind(&CameraDisplaySave::getTransport, this),
boost::bind(&CameraDisplaySave::setTransport, this, _1), parent_category_, this);
EditEnumPropertyPtr ee_prop = transport_property_.lock();
ee_prop->setOptionCallback(boost::bind(&CameraDisplaySave::onTransportEnumOptions, this, _1));
}
void ShapeDisplay::createProperties()
{
marker_topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Marker Topic", property_prefix_, boost::bind( &ShapeDisplay::getMarkerTopic, this ),
boost::bind( &ShapeDisplay::setMarkerTopic, this, _1 ), parent_category_, this );
setPropertyHelpText(marker_topic_property_, "cob_3d_mapping_msgs::Shape topic to subscribe to. <topic>_array will also automatically be subscribed with type cob_3d_mapping_msgs::ShapeArray.");
ROSTopicStringPropertyPtr topic_prop = marker_topic_property_.lock();
topic_prop->setMessageType(ros::message_traits::datatype<cob_3d_mapping_msgs::Shape>());
namespaces_category_ = property_manager_->createCategory("Namespaces", property_prefix_, parent_category_, this);
}
void PointCloud2Display::createProperties()
{
topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &PointCloud2Display::getTopic, this ),
boost::bind( &PointCloud2Display::setTopic, this, _1 ), parent_category_, this );
setPropertyHelpText(topic_property_, "sensor_msgs::PointCloud2 topic to subscribe to.");
ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::PointCloud2>());
PointCloudBase::createProperties();
}
void CButContextManager::createProperties()
{
rviz::CategoryPropertyWPtr category_context = property_manager_->createCategory("Context", property_prefix_,
parent_category_);
m_property_status_ = property_manager_->createProperty<rviz::EnumProperty>(
"Context status", property_prefix_, boost::bind(&CButContextManager::getContextStatus, this),
boost::bind(&CButContextManager::setContextStatus, this, _1), category_context, this);
setPropertyHelpText(m_property_status_, "Status");
rviz::EnumPropertyPtr enum_prop_s = m_property_status_.lock();
enum_prop_s->addOption("OK", srs_env_model::Context::OK);
enum_prop_s->addOption("Emergency", srs_env_model::Context::EMERGENCY);
m_property_action_ = property_manager_->createProperty<rviz::EnumProperty>(
"Action", property_prefix_, boost::bind(&CButContextManager::getContextAction, this),
boost::bind(&CButContextManager::setContextAction, this, _1), category_context, this);
setPropertyHelpText(m_property_action_, "Action");
rviz::EnumPropertyPtr enum_prop_a = m_property_action_.lock();
enum_prop_a->addOption("Default", srs_env_model::Context::DEFAULT);
enum_prop_a->addOption("Grasping", srs_env_model::Context::GRASPING);
enum_prop_a->addOption("Moving", srs_env_model::Context::MOVING);
m_property_connection_ = property_manager_->createProperty<rviz::EnumProperty>(
"Connection", property_prefix_, boost::bind(&CButContextManager::getContextConnection, this),
boost::bind(&CButContextManager::setContextConnection, this, _1), category_context, this);
setPropertyHelpText(m_property_connection_, "Connection");
rviz::EnumPropertyPtr enum_prop_c = m_property_connection_.lock();
enum_prop_c->addOption("Unknown", srs_env_model::Context::UNKNOWN);
enum_prop_c->addOption("LAN", srs_env_model::Context::LAN);
enum_prop_c->addOption("Wifi", srs_env_model::Context::WIFI);
m_property_collision_hazard_ = property_manager_->createProperty<rviz::EnumProperty>(
"Collision hazard", property_prefix_, boost::bind(&CButContextManager::getContextCollisionHazard, this),
boost::bind(&CButContextManager::setContextCollisionHazard, this, _1), category_context, this);
setPropertyHelpText(m_property_connection_, "Collision hazard");
rviz::EnumPropertyPtr enum_prop_ch = m_property_collision_hazard_.lock();
enum_prop_ch->addOption("None", srs_env_model::Context::NONE);
enum_prop_ch->addOption("Low", srs_env_model::Context::LOW);
enum_prop_ch->addOption("Medium", srs_env_model::Context::MEDIUM);
enum_prop_ch->addOption("High", srs_env_model::Context::HIGH);
enum_prop_ch->addOption("Collision", srs_env_model::Context::COLLISION);
}
/*!
Override createProperties() to build and configure a Property object for each
user-editable property. ``property_manager_``, ``property_prefix_``, and
``parent_category_`` are all initialized before this is called.
*/
void ImageMapDisplay::createProperties(){
relPoseTopicProperty = property_manager_->createProperty<rviz::ROSTopicStringProperty>(
"RelativePoseTopic", property_prefix_,
boost::bind(&ImageMapDisplay::getRelPoseTopic, this),
boost::bind(&ImageMapDisplay::setRelPoseTopic, this, _1),
parent_category_, this );
absPoseTopicProperty = property_manager_->createProperty<rviz::ROSTopicStringProperty>(
"AbsolutePoseTopic", property_prefix_,
boost::bind(&ImageMapDisplay::getAbsPoseTopic, this),
boost::bind(&ImageMapDisplay::setAbsPoseTopic, this, _1),
parent_category_, this );
imageStoreTopicProperty = property_manager_->createProperty<rviz::ROSTopicStringProperty>(
"ImageStoreTopic", property_prefix_,
boost::bind(&ImageMapDisplay::getImageStoreTopic, this),
boost::bind(&ImageMapDisplay::setImageStoreTopic, this, _1),
parent_category_, this );
mobotPoseCountProperty = property_manager_->createProperty<rviz::ROSTopicStringProperty>(
"MobotPoseCount", property_prefix_,
boost::bind(&ImageMapDisplay::getMobotPoseCount, this),
boost::bind(&ImageMapDisplay::setMobotPoseCount, this, _1),
parent_category_, this );
setPropertyHelpText(relPoseTopicProperty, "Relative pose topic to subscribe to.");
setPropertyHelpText(absPoseTopicProperty, "Absolute pose topic to subscribe to.");
setPropertyHelpText(imageStoreTopicProperty, "Image Store topic to connect to.");
setPropertyHelpText(mobotPoseCountProperty, "Number of mobots to connect to and display thier poses.");
rviz::ROSTopicStringPropertyPtr relPoseTopicProp = relPoseTopicProperty.lock();
rviz::ROSTopicStringPropertyPtr absPoseTopicProp = absPoseTopicProperty.lock();
//rviz::ROSTopicStringPropertyPtr imageStoreTopicProp = imageStoreTopicProperty.lock();
relPoseTopicProp->setMessageType
(ros::message_traits::datatype<mobots_msgs::ImageWithPoseAndID>());
absPoseTopicProp->setMessageType
(ros::message_traits::datatype<mobots_msgs::PoseAndID>());
// imageStoreTopicProp->setMessageType
// (ros::message_traits::datatype<map_visualization::GetImageWithPose>());
}
void CButDistanceLinearVisualizer::createProperties()
{
m_property_distance_ = property_manager_->createProperty<rviz::StringProperty>(
"Distance: ", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getDistance, this),
rviz::StringProperty::Setter(), parent_category_);
setPropertyHelpText(m_property_distance_, "Distance between link and closest surface.");
rviz::CategoryPropertyWPtr category = property_manager_->createCategory("Options", property_prefix_,
parent_category_);
// Add subscribed topic property
m_property_topic_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>(
"Topic", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getTopic, this),
boost::bind(&CButDistanceLinearVisualizer::setTopic, this, _1), category, this);
// Add helper text
setPropertyHelpText(m_property_topic_, "sensor_msgs::PointCloud2 topic to subscribe to.");
rviz::ROSTopicStringPropertyPtr topic_prop = m_property_topic_.lock();
topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::PointCloud2>());
m_property_link_ = property_manager_->createProperty<rviz::TFFrameProperty>(
"Link", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getLinkString, this),
boost::bind(&CButDistanceLinearVisualizer::setLinkString, this, _1), category, this);
setPropertyHelpText(m_property_link_, "Link from which to measure distance");
m_property_color_ = property_manager_->createProperty<rviz::ColorProperty>(
"Color", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getColor, this),
boost::bind(&CButDistanceLinearVisualizer::setColor, this, _1), category, this);
setPropertyHelpText(m_property_color_, "Line and text color.");
m_property_alpha_ = property_manager_->createProperty<rviz::FloatProperty>(
"Alpha", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getAlpha, this),
boost::bind(&CButDistanceLinearVisualizer::setAlpha, this, _1), category, this);
setPropertyHelpText(m_property_alpha_, "Alpha channel.");
m_property_thickness_ = property_manager_->createProperty<rviz::FloatProperty>(
"Line Thickness", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getThickness, this),
boost::bind(&CButDistanceLinearVisualizer::setThickness, this, _1), category, this);
setPropertyHelpText(m_property_thickness_, "Line thickness (maximum value is 0,5).");
m_show_distance_property_ = property_manager_->createProperty<rviz::BoolProperty>(
"Show distance", property_prefix_, boost::bind(&CButDistanceLinearVisualizer::getShowDistance, this),
boost::bind(&CButDistanceLinearVisualizer::setShowDistance, this, _1), category, this);
setPropertyHelpText(m_show_distance_property_, "Draw text with distance into the scene.");
}
/**
* Create properties
*/
void srs_ui_but::CButProjection::createProperties()
{
m_rgb_topic_property = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "RGB image Topic", property_prefix_, boost::bind( &CButProjection::getRgbTopic, this ),
boost::bind( &CButProjection::setRgbTopic, this, _1 ), parent_category_, this );
m_depth_topic_property = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Depth image Topic", property_prefix_, boost::bind( &CButProjection::getDepthTopic, this ),
boost::bind( &CButProjection::setDepthTopic, this, _1 ), parent_category_, this );
m_distance_property = property_manager_->createProperty<rviz::FloatProperty>( "Tested distance", property_prefix_, boost::bind( &CButProjection::getTestedDistance, this ),
boost::bind( &CButProjection::setTestedDistance, this, _1), parent_category_, this );
// Set distance limits
rviz::FloatPropertyPtr distp( m_distance_property.lock());
distp->setMin( 0.0 ); distp->setMax( 10.0 );
setPropertyHelpText(m_rgb_topic_property, "sensor_msgs::Image topic to subscribe to.");
rviz::ROSTopicStringPropertyPtr topic_prop = m_rgb_topic_property.lock();
topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::Image>());
// Set topics
setRgbTopic( m_imageRGBInputTopicName );
setDepthTopic( m_imageDepthInputTopicName );
}
// Override createProperties() to build and configure a Property
// object for each user-editable property. ``property_manager_``,
// ``property_prefix_``, and ``parent_category_`` are all initialized before
// this is called.
void AmbientSoundDisplay::createProperties()/*{{{*/
{
topic_property_ =
property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Topic",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getTopic, this ),
boost::bind( &AmbientSoundDisplay::setTopic, this, _1 ),
parent_category_,
this );
setPropertyHelpText( topic_property_, "jsk_hark_msgs::HarkPower topic to subscribe to." );
rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
topic_prop->setMessageType( ros::message_traits::datatype<jsk_hark_msgs::HarkPower>() );
color_property_ =
property_manager_->createProperty<rviz::ColorProperty>( "Color",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getColor, this ),
boost::bind( &AmbientSoundDisplay::setColor, this, _1 ),
parent_category_,
this );
setPropertyHelpText( color_property_, "Color to draw the acceleration arrows." );
alpha_property_ =
property_manager_->createProperty<rviz::FloatProperty>( "Alpha",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getAlpha, this ),
boost::bind( &AmbientSoundDisplay::setAlpha, this, _1 ),
parent_category_,
this );
setPropertyHelpText( alpha_property_, "0 is fully transparent, 1.0 is fully opaque." );
history_length_property_ =
property_manager_->createProperty<rviz::IntProperty>( "History Length",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getHistoryLength, this ),
boost::bind( &AmbientSoundDisplay::setHistoryLength, this, _1 ),
parent_category_,
this );
setPropertyHelpText( history_length_property_, "Number of prior measurements to display." );
width_property_ =
property_manager_->createProperty<rviz::FloatProperty>( "Width",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getWidth, this ),
boost::bind( &AmbientSoundDisplay::setWidth, this, _1 ),
parent_category_,
this );
setPropertyHelpText( width_property_, "Width of line" );
scale_property_ =
property_manager_->createProperty<rviz::FloatProperty>( "Scale",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getScale, this ),
boost::bind( &AmbientSoundDisplay::setScale, this, _1 ),
parent_category_,
this );
setPropertyHelpText( scale_property_, "Scale of line" );
grad_property_ =
property_manager_->createProperty<rviz::FloatProperty>( "Grad",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getGrad, this ),
boost::bind( &AmbientSoundDisplay::setGrad, this, _1 ),
parent_category_,
this );
setPropertyHelpText( grad_property_, "Graduation" );
bias_property_ =
property_manager_->createProperty<rviz::FloatProperty>( "Bias",
property_prefix_,
boost::bind( &AmbientSoundDisplay::getBias, this ),
boost::bind( &AmbientSoundDisplay::setBias, this, _1 ),
parent_category_,
this );
setPropertyHelpText( bias_property_, "Bias to subtract" );
}/*}}}*/
