/collision_map_out (via mapping_rviz_plugin) not displaying in octomap_server

asked 2014-06-16 15:13:34 -0600

xuningy gravatar image

I am trying to display /collision_map_out topic. In RViz, I do have mapping_rviz_plugin installed and working. I have taken a look at the source code, as well as updated init.cpp to contain PLUGINLIB_EXPORT_CLASS instead of PLUGINLIB_DEPEND_CLASS.

However, when I add the Display CollisionMap to RViz, I get the following error msg:

Object::connect: No such slot rviz::Display::changedOverrideColor()
Object::connect:  (sender name:   'Override Color')
Object::connect: No such slot rviz::Display::changedColor()
Object::connect:  (sender name:   'Color')
Object::connect: No such slot rviz::Display::changedRenderOperation()
Object::connect:  (sender name:   'Render Operation')
Object::connect: No such slot rviz::Display::changedAlpha()
Object::connect:  (sender name:   'Alpha')
Object::connect: No such slot rviz::Display::changedPointSize()
Object::connect:  (sender name:   'Point Size')
Object::connect: No such slot rviz::Display::changedTopic()
Object::connect:  (sender name:   'Topic')

The plugin cannot display the topic if the above methods are not working. How do I fix this?

The methods are from the source code, collision_map_display.cpp and collision_map_display.h(here for completeness' sake):


#include <rviz/display.h>
#include <rviz/helpers/color.h>

#include <boost/thread/mutex.hpp>

#include <boost/shared_ptr.hpp>

#include <arm_navigation_msgs/OrientedBoundingBox.h>
#include <arm_navigation_msgs/CollisionMap.h>

#include <message_filters/subscriber.h>
#include <tf/message_filter.h>

namespace rviz
class PointCloud;
class ColorProperty;
class RosTopicProperty;
class BoolProperty;
class EnumProperty;
class FloatProperty;

namespace Ogre
class SceneNode;
class ManualObject;

namespace mapping_rviz_plugin

namespace collision_render_ops
enum CollisionRenderOp
  CBoxes, CPoints, CCount,
typedef collision_render_ops::CollisionRenderOp CollisionRenderOp;

 * \class CollisionMapDisplay
 * \brief Displays a collision_map::CollisionMap message
class CollisionMapDisplay : public rviz::Display

  virtual ~CollisionMapDisplay();

  virtual void onInitialize();

  void changedTopic();

  void changedColor();
  void changedOverrideColor();

  void changedRenderOperation();
  void changedPointSize();
  void changedAlpha();

  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

  void subscribe();
  void unsubscribe();
  void clear();
  void incomingMessage(const arm_navigation_msgs::CollisionMap::ConstPtr& message);
  void processMessage(const arm_navigation_msgs::CollisionMap::ConstPtr& message);

  // overrides from Display
  virtual void onEnable();
  virtual void onDisable();
  virtual void fixedFrameChanged();

  std::string topic_;
  rviz::Color color_;
  int render_operation_;
  bool override_color_;
  float point_size_;
  float alpha_;

  Ogre::SceneNode* scene_node_;
  rviz::PointCloud* cloud_;

  arm_navigation_msgs::CollisionMap::ConstPtr current_message_;
  message_filters::Subscriber<arm_navigation_msgs::CollisionMap> sub_;
  tf::MessageFilter<arm_navigation_msgs::CollisionMap>* tf_filter_;

  rviz::ColorProperty* color_property_;
  rviz::RosTopicProperty* topic_property_;
  rviz::BoolProperty* override_color_property_;
  rviz::EnumProperty* render_operation_property_;
  rviz::FloatProperty* point_size_property_;
  rviz::FloatProperty* alpha_property_;

} // namespace mapping_rviz_plugin

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Solved. Added Q_OBJECT and Q_SLOTS arguments. Also added fixed_frame_ argument to MessageFilter in collision_map_display.cpp. Works fine now.

xuningy gravatar image xuningy  ( 2014-06-17 14:20:41 -0600 )edit