ROS插件：rviz tool

偏执的太偏执、 2023-01-20 09:44 223阅读 0赞

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpdXp1YmluZw_size_16_color_FFFFFF_t_70][]

建立一个ros package如上图所示，插件需要描述文件plugin\_description.xml ,flag.dae文件是插件使用的显示效果。插件做好后效果如下:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpdXp1YmluZw_size_16_color_FFFFFF_t_70 1][]

point\_grabber.h代码如下：

#ifndef POINT_GRABBER_H
    #define POINT_GRABBER_H
    
    #ifndef Q_MOC_RUN
    #include <ros/ros.h>
    #include <rviz/panel.h>
    #include <rviz/tool.h>
    #include <xcb/xcb.h>
    #endif
    
    #include <geometry_msgs/PoseArray.h>
    #include <geometry_msgs/PoseStamped.h>
    #include <std_msgs/Bool.h>
    #include <std_msgs/String.h>
    
    #include <OGRE/OgreEntity.h>
    #include <OGRE/OgreSceneManager.h>
    #include <OGRE/OgreSceneNode.h>
    
    
    class PointGrabber : public rviz::Tool {
      Q_OBJECT
    
     public:
      PointGrabber();
      virtual int processMouseEvent(rviz::ViewportMouseEvent &event);
      virtual void activate();
      virtual void deactivate();
      virtual void onInitialize();
    
     private:
      void makeFlag(const Ogre::Vector3 &position);
    
      ros::Publisher pub_click_up;
      ros::NodeHandle nh_;
      geometry_msgs::Pose leftdown_ps;
      std::vector<Ogre::SceneNode *> flag_nodes_;
      Ogre::SceneNode *moving_flag_node_;
      std::string flag_resource_;
    };
    
    #endif  // SIMU_PARAM_PANEL_H

point\_grabber.cpp代码如下：

#include <geometry_msgs/PoseArray.h>
    #include <ros/package.h>
    #include <rviz/frame_manager.h>
    #include <rviz/geometry.h>
    #include <rviz/mesh_loader.h>
    #include <rviz/viewport_mouse_event.h>
    #include <rviz/visualization_manager.h>
    #include <std_msgs/Bool.h>
    #include <std_msgs/String.h>
    
    #include "point_grabber.h"
    
    PointGrabber::PointGrabber() : moving_flag_node_(NULL) {
      pub_click_up = nh_.advertise<geometry_msgs::Pose>("/grab_a_point", 1);
    }
    
    void PointGrabber::onInitialize() {
      flag_resource_ = "package://point_grabber/media/flag.dae";
      if (rviz::loadMeshFromResource(flag_resource_).isNull()) {
        ROS_ERROR("PointGrabber: failed to load model resource '%s'.",flag_resource_.c_str());
        return;
      }
      moving_flag_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
      Ogre::Entity *entity = scene_manager_->createEntity(flag_resource_);
      moving_flag_node_->attachObject(entity);
      moving_flag_node_->setVisible(false);
    }
    
    void PointGrabber::activate() {
      if (moving_flag_node_) moving_flag_node_->setVisible(true);
    }
    
    void PointGrabber::deactivate() {
      if (moving_flag_node_) moving_flag_node_->setVisible(false);
      for (unsigned i = 0; i < flag_nodes_.size(); i++)
        scene_manager_->destroySceneNode(flag_nodes_[i]);
      flag_nodes_.clear();
    }
    
    int PointGrabber::processMouseEvent(rviz::ViewportMouseEvent &event) {
      if (!moving_flag_node_) return Render;
      Ogre::Vector3 intersection;
      Ogre::Plane ground_plane(Ogre::Vector3::UNIT_Z, 0.0f);
      if (rviz::getPointOnPlaneFromWindowXY(event.viewport, ground_plane, event.x,
                                            event.y, intersection)) {
        moving_flag_node_->setVisible(true);
        moving_flag_node_->setPosition(intersection);
        if (event.leftDown()) {
          makeFlag(intersection);
          leftdown_ps.position.x = intersection.x /*+ transform_.getOrigin().x()*/;  // event.x;
          leftdown_ps.position.y = intersection.y /*+ transform_.getOrigin().y()*/;  // event.y;
          leftdown_ps.position.z = 0;                           // 0;
          pub_click_up.publish(leftdown_ps);
          return Render;
        } else if (event.rightDown()) {
          return Render | Finished;
        }
      }
      return Render;
    }
    
    void PointGrabber::makeFlag(const Ogre::Vector3 &position) {
      Ogre::SceneNode *node =
          scene_manager_->getRootSceneNode()->createChildSceneNode();
      Ogre::Entity *entity = scene_manager_->createEntity(flag_resource_);
      node->attachObject(entity);
      node->setVisible(true);
      node->setPosition(position);
      flag_nodes_.push_back(node);
    }
    
    #include <pluginlib/class_list_macros.h>
    PLUGINLIB_EXPORT_CLASS(PointGrabber,rviz::Tool)

CMakeLists.txt代码如下：

cmake_minimum_required(VERSION 3.0.2)
    project(point_grabber)
    
    SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}")
    add_definitions(-DQT_NO_KEYWORDS -g)
    set(CMAKE_AUTOMOC ON)
    
    find_package(catkin REQUIRED COMPONENTS  
                   std_msgs
                   rviz)
    
    if(rviz_QT_VERSION VERSION_LESS "5")
         message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
         find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
         include(${QT_USE_FILE})
    else()
         message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
         find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
         set(QT_LIBRARIES Qt5::Widgets)
    endif()
    
    
    catkin_package(
         CATKIN_DEPENDS rviz std_msgs 
         DEPENDS rviz
    )
    
    include_directories(${catkin_INCLUDE_DIRS})
    
    add_library(${PROJECT_NAME} 
         src/point_grabber.cpp
         ${UIC_FILES}
         )
    
    target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES})

package.xml代码如下：

<?xml version="1.0"?>
    <package>
      <name>point_grabber</name>
      <version>0.0.0</version>
      <description>The point_grabber package</description>
      <maintainer email="zubing.liu@allride.ai">zubing.liu</maintainer>
    
      <license>BSD</license>
      <buildtool_depend>catkin</buildtool_depend>
      <build_depend>rviz</build_depend>
      <build_depend>std_msgs</build_depend>
      <build_depend>qtbase5-dev</build_depend>
    
      <run_depend>rviz</run_depend>
      <run_depend>std_msgs</run_depend>
      <run_depend>libqt5-core</run_depend>
      <run_depend>libqt5-widgets</run_depend>
    
      <export>
          <rviz plugin="${prefix}/plugin_description.xml"/>
      </export>
    
    </package>

plugin\_description.xml代码如下：

<library path="lib/libpoint_grabber">
      <class name="point_grabber/PointGrabber"
             type="PointGrabber"
             base_class_type="rviz::Tool">
        <description>
          liuzubing test point_grabber_tool.
        </description>
      </class>
    </library>

flag.dae代码如下：

<?xml version="1.0" encoding="utf-8"?>
    <COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
    	<asset>
    		<contributor>
    			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
    			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
    			<comments></comments>
    			<copyright></copyright>
    			<source_data>file:///u/hersh/flag.blend</source_data>
    		</contributor>
    		<created>2011-03-16T15:32:31.374173</created>
    		<modified>2011-03-16T15:32:31.374204</modified>
    		<up_axis>Z_UP</up_axis>
    	</asset>
    	<library_effects>
    		<effect id="blue_alpha-fx" name="blue_alpha-fx">
    			<profile_COMMON>
    				<technique sid="blender">
    					<phong>
    						<emission>
    							<color>0.00000 0.00000 0.00000 1</color>
    						</emission>
    						<ambient>
    							<color>0.04706 0.37059 0.44706 1</color>
    						</ambient>
    						<diffuse>
    							<color>0.09412 0.74118 0.89412 1</color>
    						</diffuse>
    						<specular>
    							<color>0.50000 0.50000 0.50000 1</color>
    						</specular>
    						<shininess>
    							<float>12.5</float>
    						</shininess>
    						<reflective>
    							<color>1.00000 1.00000 1.00000 1</color>
    						</reflective>
    						<reflectivity>
    							<float>0.0</float>
    						</reflectivity>
    						<transparent>
    							<color>1 1 1 1</color>
    						</transparent>
    						<transparency>
    							<float>0.5</float>
    						</transparency>
    					</phong>
    				</technique>
    			</profile_COMMON>
    		</effect>
    		<effect id="red-fx" name="red-fx">
    			<profile_COMMON>
    				<technique sid="blender">
    					<phong>
    						<emission>
    							<color>0.00000 0.00000 0.00000 1</color>
    						</emission>
    						<ambient>
    							<color>0.50000 0.00000 0.00000 1</color>
    						</ambient>
    						<diffuse>
    							<color>1.00000 0.00000 0.00000 1</color>
    						</diffuse>
    						<specular>
    							<color>0.50000 0.50000 0.50000 1</color>
    						</specular>
    						<shininess>
    							<float>12.5</float>
    						</shininess>
    						<reflective>
    							<color>1.00000 1.00000 1.00000 1</color>
    						</reflective>
    						<reflectivity>
    							<float>0.0</float>
    						</reflectivity>
    						<transparent>
    							<color>1 1 1 1</color>
    						</transparent>
    						<transparency>
    							<float>0.0</float>
    						</transparency>
    					</phong>
    				</technique>
    			</profile_COMMON>
    		</effect>
    		<effect id="white-fx" name="white-fx">
    			<profile_COMMON>
    				<technique sid="blender">
    					<phong>
    						<emission>
    							<color>0.00000 0.00000 0.00000 1</color>
    						</emission>
    						<ambient>
    							<color>0.50000 0.50000 0.50000 1</color>
    						</ambient>
    						<diffuse>
    							<color>1.00000 1.00000 1.00000 1</color>
    						</diffuse>
    						<specular>
    							<color>0.50000 0.50000 0.50000 1</color>
    						</specular>
    						<shininess>
    							<float>12.5</float>
    						</shininess>
    						<reflective>
    							<color>1.00000 1.00000 1.00000 1</color>
    						</reflective>
    						<reflectivity>
    							<float>0.0</float>
    						</reflectivity>
    						<transparent>
    							<color>1 1 1 1</color>
    						</transparent>
    						<transparency>
    							<float>0.0</float>
    						</transparency>
    					</phong>
    				</technique>
    			</profile_COMMON>
    		</effect>
    	</library_effects>
    	<library_lights>
    		<light id="Lamp_001" name="Lamp_001">
    			<technique_common>
    				<directional>
    					<color>1.00000 1.00000 1.00000</color>
    				</directional>
    			</technique_common>
    		</light>
    	</library_lights>
    	<library_materials>
    		<material id="blue_alpha" name="blue_alpha">
    			<instance_effect url="#blue_alpha-fx"/>
    		</material>
    		<material id="red" name="red">
    			<instance_effect url="#red-fx"/>
    		</material>
    		<material id="white" name="white">
    			<instance_effect url="#white-fx"/>
    		</material>
    	</library_materials>
    	<library_geometries>
    		<geometry id="Cylinder_001-Geometry" name="Cylinder_001-Geometry">
    			<mesh>
    				<source id="Cylinder_001-Geometry-Position">
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    					<technique_common>
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    							<param type="float" name="Z"></param>
    						</accessor>
    					</technique_common>
    				</source>
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