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Rviz 2d Nav goal tool

asked 2014-07-22 12:04:39 -0500

Manolis Chiou gravatar image

Hi,

Every time that I have to use the 2d Nav goal tool in rviz, I need to first click on it and then on the map. Once I have clicked on the map the tool/mouse pointer turns back to "interact" tool. This means if I have to use it again I need to go back to the toolbar and select it again on the 2D Nav Goal and so on.

Does someone knows if I can change that (i.e. to give 2d nav goal without the need to select the tool again and again) , preferably without messing with the rviz source code? For example the tool "Publish Point" has a property "single click" that you can change in the tools property menu, but I cannot find something similar for the 2d Nav Goal.

thanks, Manolis

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You can press g to go into goal mode. I usually just do g, click, g, click, ... over and over again. Otherwise you'll have to modify the rviz source code.

William gravatar image William  ( 2015-10-26 13:00:45 -0500 )edit

I am doing some experiments with human robot operators and g -> click -> g -> click , will affect the results. Thanks though :)

Manolis Chiou gravatar image Manolis Chiou  ( 2015-10-26 13:23:02 -0500 )edit

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answered 2015-10-26 07:03:22 -0500

Manolis Chiou gravatar image

There are a few changes in rviz source code that allow for "single click" property to be added or deactivated in the 2d Nav Goal. You can either use rviz from my rviz repo or do the following changes yourself. Note that when you apply the changes you need to go in rviz window, panels -> tool properties -> 2d nav goal and change the property "single click":

1) in src -> rviz -> default plug in -> tools -> goal tool.cpp :

add the includes:

#include "rviz/properties/bool_property.h"
#include <OgrePlane.h>
#include <OgreRay.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>
#include "rviz/geometry.h"
#include "rviz/ogre_helpers/arrow.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/load_resource.h"
#include "rviz/render_panel.h"

add in line 50 after the topic_property_ and inside the GoalTool():

 auto_deactivate_property_ = new BoolProperty( "Single click", true, "Switch away from this tool after one click.", getPropertyContainer(), SLOT( updateAutoDeactivate() ), this );

add in line 59 inside the void GoalTool::onInitialize():

// THIS IS FOR ARROW SIZE TUNING
    // DELETED PoseTool::onInitialize();
    arrow_ = new Arrow( scene_manager_, NULL, 0.25f, 0.07f, 0.15f, 0.2f ); // ADDED
    arrow_->setColor( 0.0f, 0.0f, 1.0f, 1.0f ); // ADDED
    arrow_->getSceneNode()->setVisible( false ); // ADDED

add in line 67 after the topic_property_ = new StringProperty() :

void GoalTool::updateAutoDeactivate()  {  }

in in line 85 after the void GoalTool::onPoseSet() function:

// ADD THE WHOLE FUNCTION
int GoalTool::processMouseEvent( ViewportMouseEvent& event )
{
  int flags = 0;

  if( event.leftDown() )
  {
    ROS_ASSERT( state_ == Position );

    Ogre::Vector3 intersection;
    Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
    if( getPointOnPlaneFromWindowXY( event.viewport,
                                     ground_plane,
                                     event.x, event.y, intersection ))
    {
      pos_ = intersection;
      arrow_->setPosition( pos_ );

      state_ = Orientation;
      flags |= Render;
    }
  }
  else if( event.type == QEvent::MouseMove && event.left() )
  {
    if( state_ == Orientation )
    {
      //compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
      if( getPointOnPlaneFromWindowXY( event.viewport,
                                       ground_plane,
                                       event.x, event.y, cur_pos ))
      {
        double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );

        arrow_->getSceneNode()->setVisible( true );

        //we need base_orient, since the arrow goes along the -z axis by default (for historical reasons)
        Ogre::Quaternion orient_x = Ogre::Quaternion( Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y );

        arrow_->setOrientation( Ogre::Quaternion( Ogre::Radian(angle), Ogre::Vector3::UNIT_Z ) * orient_x );

        flags |= Render;
      }
    }
  }
  else if( event.leftUp() )
  {
    if( state_ == Orientation )
    {
      //compute angle in x-y plane
      Ogre::Vector3 cur_pos;
      Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
      if( getPointOnPlaneFromWindowXY( event.viewport,
                                       ground_plane,
                                       event.x, event.y, cur_pos ))
      {
        double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );

        onPoseSet(pos_.x, pos_.y, angle);
        if ( auto_deactivate_property_->getBool() )
        {
        flags |= (Finished|Render);
        }
         else if (!auto_deactivate_property_->getBool())
        {
            state_ = Position;
            arrow_->getSceneNode()->setVisible( false );
        } // ADDED TILL HERE

      }
    }
  }
  return flags;
}

2) in src -> rviz -> default plug in -> tools -> goal tool.h :

add in line 39 after # include "rviz/default_plugin/tools/pose_tool.h"

# include <QObject>

add in line 46 after class StringProperty :

class BoolProperty;

add in line 58 after virtual void onInitialize(); :

virtual int processMouseEvent( ViewportMouseEvent& event ); // ADDED

add in line 65 after: Void updateTopic():

void updateAutoDeactivate();

add in line 73 after StringProperty* topic_property_; :

protected: 
  BoolProperty* auto_deactivate_property_;
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Comments

Why not produce a diff and make a pull request to rviz? https://github.com/ros-visualization/...

William gravatar image William  ( 2015-10-26 13:01:39 -0500 )edit

I will do that once I got some time to tidy up the code :)

Manolis Chiou gravatar image Manolis Chiou  ( 2015-10-28 10:19:18 -0500 )edit

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Asked: 2014-07-22 12:04:39 -0500

Seen: 2,173 times

Last updated: Oct 26 '15