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1 | initial version |
Hey guys,
i just want to add my final code to this problem (note only used with ROS indigo):
bool QNode::init(const std::string &master_url, const std::string host_url, const std::string &name){
2 | No.2 Revision |
Hey guys,
i just want to add my final code to this problem (note only used with ROS indigo):
bool QNode::init(const std::string &master_url, const std::string host_url, &host_url, const std::string &name){
&name ) {
if(ros::isInitialized()){
m_instanciated = true;
qDebug() << "ROS already initialized.";
//return true;
} else {
std::map<std::string,std::string> remappings;
remappings["__master"] = master_url;
remappings["__hostname"] = host_url;
ros::init(remappings, name);
ix = 0;
}
if(ros::isStarted()){
qDebug() << "ROS already started.";
//return true;
}
if ( ! ros::master::check() ) {
return false;
}
ros::start(); // explicitly needed since our nodehandle is going out of scope.
ros::NodeHandle n;
/**RVIZ PointCloudContainer is set from your GUI-Class e.g qnode.setRvizPointCloudContainer(gui->pointCloudContainer)**/
pointCloud_panel = new rviz::RenderPanel();
managerPointCloud = new rviz::VisualizationManager(pointCloud_panel);
pointCloud_panel->initialize(managerPointCloud->getSceneManager(), managerPointCloud);
pointCloudContainer->addWidget(pointCloud_panel);
pointCloud_panel->setBackgroundColor( Ogre::ColourValue(0, 0,0,0.3));
managerPointCloud->initialize();
managerPointCloud->startUpdate();
/**E.g. For velodyne **/
managerPointCloud->setFixedFrame("velodyne");
grid = managerPointCloud->createDisplay("rviz/Grid","Grid",true);
pointCloudTop->subProp("Topic")->setValue("velodyne_points");
pointCloudTop->subProp("Style")->setValue("Points");
pointCloudTop->subProp("Size (Pixels)")->setValue("2");
pointCloudTop->subProp("Color Transformer")->setValue("Intensity");
pointCloudTop->subProp("Invert Rainbow")->setValue("true");
}
3 | No.3 Revision |
Hey guys,
i just want to add my final code to this problem (note only used with ROS indigo):
bool QNode::init(const std::string &master_url, const std::string &host_url, const std::string &name ) {
if(ros::isInitialized()){
m_instanciated = true;
qDebug() << "ROS already initialized.";
//return true;
} else {
std::map<std::string,std::string> remappings;
remappings["__master"] = master_url;
remappings["__hostname"] = host_url;
ros::init(remappings, name);
ix = 0;
}
if(ros::isStarted()){
qDebug() << "ROS already started.";
//return true;
}
if ( ! ros::master::check() ) {
return false;
}
ros::start(); // explicitly needed since our nodehandle is going out of scope.
ros::NodeHandle n;
/**RVIZ PointCloudContainer is set from your GUI-Class e.g qnode.setRvizPointCloudContainer(gui->pointCloudContainer)**/
pointCloud_panel = new rviz::RenderPanel();
managerPointCloud = new rviz::VisualizationManager(pointCloud_panel);
pointCloud_panel->initialize(managerPointCloud->getSceneManager(), managerPointCloud);
pointCloudContainer->addWidget(pointCloud_panel);
pointCloud_panel->setBackgroundColor( Ogre::ColourValue(0, 0,0,0.3));
managerPointCloud->initialize();
managerPointCloud->startUpdate();
/**E.g. For velodyne **/
managerPointCloud->setFixedFrame("velodyne");
grid = managerPointCloud->createDisplay("rviz/Grid","Grid",true);
pointCloudTop->subProp("Topic")->setValue("velodyne_points");
pointCloudTop->subProp("Style")->setValue("Points");
pointCloudTop->subProp("Size (Pixels)")->setValue("2");
pointCloudTop->subProp("Color Transformer")->setValue("Intensity");
pointCloudTop->subProp("Invert Rainbow")->setValue("true");
}
4 | No.4 Revision |
Hey guys,
i just want to add my final code to this problem (note only used with ROS indigo):
bool QNode::init(const std::string &master_url, const std::string &host_url, const std::string &name ) {
if(ros::isInitialized()){
m_instanciated = true;
qDebug() << "ROS already initialized.";
//return true;
} else {
std::map<std::string,std::string> remappings;
remappings["__master"] = master_url;
remappings["__hostname"] = host_url;
ros::init(remappings, name);
ix = 0;
}
if(ros::isStarted()){
qDebug() << "ROS already started.";
//return true;
}
if ( ! ros::master::check() ) {
return false;
}
ros::start(); // explicitly needed since our nodehandle is going out of scope.
ros::NodeHandle n;
/**RVIZ PointCloudContainer is set from your GUI-Class e.g qnode.setRvizPointCloudContainer(gui->pointCloudContainer)**/
pointCloud_panel = new rviz::RenderPanel();
managerPointCloud = new rviz::VisualizationManager(pointCloud_panel);
pointCloud_panel->initialize(managerPointCloud->getSceneManager(), managerPointCloud);
pointCloudContainer->addWidget(pointCloud_panel);
pointCloud_panel->setBackgroundColor( Ogre::ColourValue(0, 0,0,0.3));
managerPointCloud->initialize();
managerPointCloud->startUpdate();
/**E.g. For velodyne **/
managerPointCloud->setFixedFrame("velodyne");
pointCloud = managerPointCloud->createDisplay("rviz/PointCloud2","PointCloudAir", true);
grid = managerPointCloud->createDisplay("rviz/Grid","Grid",true);
pointCloudTop->subProp("Topic")->setValue("velodyne_points");
pointCloudTop->subProp("Style")->setValue("Points");
pointCloudTop->subProp("Size pointCloud->subProp("Topic")->setValue("velodyne_points");
pointCloud->subProp("Style")->setValue("Points");
pointCloud->subProp("Size (Pixels)")->setValue("2");
pointCloudTop->subProp("Color pointCloud->subProp("Color Transformer")->setValue("Intensity");
pointCloudTop->subProp("Invert pointCloud->subProp("Invert Rainbow")->setValue("true");
}