void DataRateCheckerPlugin::load(const rviz::Config& config) {
rviz::Panel::load(config);
QString topic;
int min_frequency;
if(config.mapGetString ("Topic", &topic))
{
// Extract selected topic name from combo box
std::string selected_topic = topic.toStdString();
if (selected_topic != kBlankTopic.toStdString() && selected_topic != "") {
UpdateTopicList();
int topic_index = ui_.topic_combo_box_->findText(topic);
// If the load topic doesn't exist, load it anyway to wait for the topic to become active
if (topic_index == -1) {
QStringList dummy_topic_list;
dummy_topic_list << topic;
ui_.topic_combo_box_->addItems(dummy_topic_list);
topic_index = ui_.topic_combo_box_->findText(topic);
}
ui_.topic_combo_box_->setCurrentIndex(topic_index);
topic_sub_ = node_handle_.subscribe(selected_topic,
1,
&DataRateCheckerPlugin::MessageCallback,
this);
timer_ = node_handle_.createWallTimer(ros::WallDuration(1.0),
&DataRateCheckerPlugin::TimerCallback,
this);
}
}
if(config.mapGetInt ("Min rate", &min_frequency)) {
ui_.min_frequency_spin_box_->setValue(min_frequency);
}
} // DataRateCheckerPlugin::load
// Loading and saving the flags
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Tools with a fixed set of Property objects representing adjustable
// parameters are typically just created in the tool's constructor and
// added to the Property container (getPropertyContainer()). In that
// case, the Tool subclass does not need to override load() and save()
// because the default behavior is to read all the Properties in the
// container from the Config object.
//
// Here however, we have a list of named flag positions of unknown
// length, so we need to implement save() and load() ourselves.
//
// We first save the class ID to the config object so the
// rviz::ToolManager will know what to instantiate when the config
// file is read back in.
void FlagTool3D::save( rviz::Config config ) const
{
config.mapSetValue( "Class", getClassId() );
// The top level of this tool's Config is a map, but our flags
// should go in a list, since they may or may not have unique keys.
// Therefore we make a child of the map (``flags_config``) to store
// the list.
rviz::Config flags_config = config.mapMakeChild( "Flags" );
// To read the positions and names of the flags, we loop over the
// the children of our Property container:
rviz::Property* container = getPropertyContainer();
int num_children = container->numChildren();
for( int i = 0; i < num_children; i++ )
{
rviz::Property* position_prop = container->childAt( i );
// For each Property, we create a new Config object representing a
// single flag and append it to the Config list.
rviz::Config flag_config = flags_config.listAppendNew();
// Into the flag's config we store its name:
flag_config.mapSetValue( "Name", position_prop->getName() );
// ... and its position.
position_prop->save( flag_config );
}
}
void CancelAction::save( rviz::Config config ) const
{
rviz::Panel::save( config );
rviz::Config topic_list_config = config.mapMakeChild( "topics" );
std::vector<topicListLayout>::const_iterator it = topic_list_layouts_.begin();
while( it != topic_list_layouts_.end()){
topic_list_config.listAppendNew().setValue( it->topic_name_->text() );
it ++;
}
config.mapSetValue( "Topic", output_topic_ );
}
// In a tool's load() function, we don't need to read its class
// because that has already been read and used to instantiate the
// object before this can have been called.
void FlagTool3D::load( const rviz::Config& config )
{
// Here we get the "Flags" sub-config from the tool config and loop over its entries:
rviz::Config flags_config = config.mapGetChild( "Flags" );
int num_flags = flags_config.listLength();
for( int i = 0; i < num_flags; i++ )
{
rviz::Config flag_config = flags_config.listChildAt( i );
// At this point each ``flag_config`` represents a single flag.
//
// Here we provide a default name in case the name is not in the config file for some reason:
QString name = "Flag " + QString::number( i + 1 );
// Then we use the convenience function mapGetString() to read the
// name from ``flag_config`` if it is there. (If no "Name" entry
// were present it would return false, but we don't care about
// that because we have already set a default.)
flag_config.mapGetString( "Name", &name );
// Given the name we can create an rviz::VectorProperty to display the position:
rviz::VectorProperty* prop = new rviz::VectorProperty( name );
// Then we just tell the property to read its contents from the config, and we've read all the data.
prop->load( flag_config );
// We finish each flag by marking it read-only (as discussed
// above), adding it to the property container, and finally making
// an actual visible flag object in the 3D scene at the correct
// position.
prop->setReadOnly( true );
getPropertyContainer()->addChild( prop );
makeFlag( prop->getVector() );
}
}
void AddWayPoint::save(rviz::Config config) const
{
/// Allowing the user to save the current configuration of the panel
ROS_INFO_STREAM("Saving configuration");
rviz::Panel::save(config);
config.mapSetValue("TextEntry", QString::fromStdString(std::string("test_field")));
}
void TransformableMarkerOperatorAction::load( const rviz::Config& config )
{
rviz::Panel::load( config );
QString server_name;
config.mapGetString( "ServerName", &server_name );
server_name_editor_->setText(server_name);
}
void
TfVisualCalcPanel::load(const rviz::Config& p_config)
{
rviz::Panel::load(p_config);
QString tfVisualCalcViewString;
if (p_config.mapGetString("TfVisualCalcView", &tfVisualCalcViewString)) {
m_calcView->fromYAMLString(tfVisualCalcViewString.toStdString());
}
}
// Load all configuration data for this panel from the given Config object.
void TeleopPanel::load( const rviz::Config& config )
{
rviz::Panel::load( config );
QString topic;
if( config.mapGetString( "Topic", &topic ))
{
output_topic_editor_->setText( topic );
updateTopic();
}
}
// Load all configuration data for this panel from the given Config object.
void CancelAction::load( const rviz::Config& config )
{
rviz::Panel::load( config );
rviz::Config topic_list_config = config.mapGetChild( "topics" );
int num_topics = topic_list_config.listLength();
for( int i = 0; i < num_topics; i++ ) {
addTopicList(topic_list_config.listChildAt( i ).getValue().toString().toStdString());
}
}
void AddWayPoint::load(const rviz::Config& config)
{
/*! \brief Setting up the configurations for the Panel of the RViz enviroment.
*/
rviz::Panel::load(config);
QString text_entry;
ROS_INFO_STREAM("rviz: Initializing the user interaction planning panel");
if (config.mapGetString("TextEntry", &text_entry))
{
ROS_INFO_STREAM("Loaded TextEntry with value: " << text_entry.toStdString());
}
ROS_INFO_STREAM("rviz Initialization Finished reading config file");
}
// Save all configuration data from this panel to the given
// Config object. It is important here that you call save()
// on the parent class so the class id and panel name get saved.
void TeleopPanel::save( rviz::Config config ) const
{
rviz::Panel::save( config );
config.mapSetValue( "Topic", output_topic_ );
}
void DataRateCheckerPlugin::save(rviz::Config config) const {
rviz::Panel::save(config);
config.mapSetValue("Topic", ui_.topic_combo_box_->currentText());
config.mapSetValue("Min rate", ui_.min_frequency_spin_box_->value());
} // DataRateCheckerPlugin::save
void
TfVisualCalcPanel::save(rviz::Config p_config) const
{
rviz::Panel::save(p_config);
p_config.mapSetValue("TfVisualCalcView", QString::fromStdString(m_calcView->toYAMLString()));
}
void TransformableMarkerOperatorAction::save( rviz::Config config ) const
{
rviz::Panel::save( config );
config.mapSetValue( "ServerName", server_name_editor_->text().toStdString().c_str() );
}
