Add RvizGui and KeyTool

CMakeLists.txt

@@ -1,7 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rviz_visual_tools)
 
-# C++ 11
 add_definitions(-std=c++11)
 
 # Warnings
@@ -12,7 +11,6 @@ add_definitions(-W -Wall -Wextra
   -Wno-unused-parameter -Wno-unused-function)
 
 find_package(catkin REQUIRED COMPONENTS
-  cmake_modules
   eigen_conversions
   geometry_msgs
   graph_msgs
@@ -24,14 +22,44 @@ find_package(catkin REQUIRED COMPONENTS
   visualization_msgs
   roslint
   eigen_stl_containers
+  rviz
+  sensor_msgs
 )
 
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED thread system)
 
+# Qt 4 or 5
+if(rviz_QT_VERSION VERSION_LESS "5")
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
+  include(${QT_USE_FILE})
+  macro(qt_wrap_ui)
+    qt4_wrap_ui(${ARGN})
+  endmacro()
+  macro(qt_wrap_cpp)
+    qt4_wrap_cpp(${ARGN})
+  endmacro()
+else()
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+  set(QT_LIBRARIES Qt5::Widgets)
+  macro(qt_wrap_ui)
+    qt5_wrap_ui(${ARGN})
+  endmacro()
+  macro(qt_wrap_cpp)
+    qt5_wrap_cpp(${ARGN})
+  endmacro()
+endif()
+## Prefer the Qt signals and slots to avoid defining "emit", "slots",
+## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
 catkin_package(
   LIBRARIES
     ${PROJECT_NAME}
+    ${PROJECT_NAME}_gui
+    ${PROJECT_NAME}_remote_control
   CATKIN_DEPENDS
     eigen_conversions
     geometry_msgs
@@ -40,7 +68,9 @@ catkin_package(
     std_msgs
     tf_conversions
     trajectory_msgs
-  INCLUDE_DIRS include
+    sensor_msgs
+  INCLUDE_DIRS
+    include
 )
 
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
@@ -54,21 +84,42 @@ include_directories(
 ## Build ##
 ###########
 
+## specify which header files need to be run through "moc",
+## Qt's meta-object compiler.
+qt_wrap_cpp(MOC_FILES
+  src/rviz_visual_tools_gui.h
+  src/key_tool.h
+)
+
+## specify the list of source files, including the output of
+## the previous command which is stored in ``${MOC_FILES}``.
+set(SOURCE_FILES
+  src/rviz_visual_tools_gui.cpp
+  src/key_tool.cpp
+)
+
+# Rviz GUI library
+add_library(${PROJECT_NAME}_gui ${SOURCE_FILES} src/remote_control.cpp)
+target_link_libraries(${PROJECT_NAME}_gui ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${QT_LIBRARIES} ${catkin_LIBRARIES})
+
+# Remote control library
+add_library(${PROJECT_NAME}_remote_control src/remote_control.cpp)
+target_link_libraries(${PROJECT_NAME}_remote_control ${catkin_LIBRARIES})
+
 # Visualization Tools Library
 add_library(${PROJECT_NAME}
   src/rviz_visual_tools.cpp
   src/tf_visual_tools.cpp
 )
-
-add_dependencies(${PROJECT_NAME} graph_msgs_generate_messages_cpp)
-
 target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES} ${Boost_LIBRARIES}
+  ${PROJECT_NAME}_remote_control
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
 )
 
 # Demo executable
-add_executable(rviz_visual_tools_demo src/rviz_visual_tools_demo.cpp)
-target_link_libraries(rviz_visual_tools_demo
+add_executable(${PROJECT_NAME}_demo src/rviz_visual_tools_demo.cpp)
+target_link_libraries(${PROJECT_NAME}_demo
   ${catkin_LIBRARIES} ${PROJECT_NAME}
 )
 
@@ -95,12 +146,30 @@ roslint_cpp()
 #############
 
 # Install libraries
-install(TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(
+  TARGETS
+    ${PROJECT_NAME}
+    ${PROJECT_NAME}_gui
+    ${PROJECT_NAME}_remote_control
+  LIBRARY DESTINATION
+    ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
 
 # Install header files
 install(DIRECTORY include/${PROJECT_NAME}/   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
 # Install shared resources
 install(DIRECTORY launch    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# Install xml plugin config
+install(FILES
+  plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+# Install executables
+install(TARGETS ${PROJECT_NAME}_demo
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

README.md

@@ -2,10 +2,12 @@
 
 **Note: a recent change (Sept 28, 2016) requires that all publishing must now be triggered by ``trigger()``**
 
-C++ API wrapper for displaying shapes and meshes in Rviz via helper functions that publish markers. Useful for displaying and debugging data. For more advanced robot visualization features, see the [moveit_visual_tools](https://github.com/davetcoleman/moveit_visual_tools) which builds on this class, or [ompl_visual_tools](https://github.com/davetcoleman/ompl_visual_tools/) if you are an OMPL ROS user.
+C++ API wrapper for displaying shapes and meshes in Rviz via helper functions that publish markers. Useful for displaying and debugging data. For more advanced robot visualization features, see the [moveit_visual_tools](https://github.com/davetcoleman/moveit_visual_tools) which builds on this class.
 
 This package includes:
 
+ - Rviz Panel GUI to step through your code for debugging and testing
+ - Rviz-based keyboard control for stepping through application
  - Easy to use helper functions for visualizing in Rviz fast
  - Basic geometric markers for Rviz
  - More complex geometric shapes such as coordinate frames, framed boxes, planes, paths, graphs
@@ -18,8 +20,8 @@ This package includes:
 Developed by [Dave Coleman](http://dav.ee) at the Correll Robotics Lab, University of Colorado Boulder with help from Andy McEvoy and many others.
 
  * [![Build Status](https://travis-ci.org/davetcoleman/rviz_visual_tools.svg)](https://travis-ci.org/davetcoleman/rviz_visual_tools) Travis CI
- * [![Build Status](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__rviz_visual_tools__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__rviz_visual_tools__ubuntu_trusty__source/) ROS Buildfarm - Trusty Devel Source Build
- * [![Build Status](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__rviz_visual_tools__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__rviz_visual_tools__ubuntu_trusty_amd64__binary/) ROS Buildfarm - AMD64 Trusty Debian Build
+ * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__rviz_visual_tools__ubuntu_xenial_amd64__binary/) ROS Buildfarm - AMD64 Xenial Debian Build
+ * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__rviz_visual_tools__ubuntu_xenial_amd64)](http://build.ros.org/view/Kdev/job/Kdev__rviz_visual_tools__ubuntu_xenial_amd64/) ROS Buildfarm - AMD64 Xenial Debian Build
 
 ![](resources/screenshot.png)
 
@@ -98,9 +100,38 @@ In the following snippet we create a pose at xyz (0.1, 0.1, 0.1) and rotate the
     // Don't forget to trigger the publisher!
     visual_tools_->trigger();
 
+## Rviz GUI Usage
+
+Publishes on the topic of ``/rviz_visual_tools_gui``
+
+The buttons in the [Joy](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html) message correspond to the following:
+
+```
+1 - Next
+2 - Continue
+3 - Break
+4 - Stop
+```
+
+Note: only Next is fully implemented
+
+### Mouse-Based Control
+
+![](resources/dashboard_screenshot.png)
+
+Use the Rviz panel called "RvizVisualToolsGui" to step through your program.
+
+### Keyboard-Based Control
+
+![](resources/keytool_screenshot.png)
+
+Switch to the "KeyTool" in the top of the Rviz window and used keyboard commands "n" and "a" for next and auto, respectively.
+
+## API
+
 ### Basic Publishing Functions
 
-See ``visual_tools.h`` for more details and documentation on the following functions:
+See ``rviz_visual_tools.h`` for more details and documentation on the following functions:
 
  - publishSphere
  - publishSpheres
@@ -132,7 +163,7 @@ And more...
 
 Reset function
 
- - ``deleteAllMarkers`` - tells Rviz to clear out all current markers from being displayed.
+ - ``deleteAllMarkers()`` - tells Rviz to clear out all current markers from being displayed.
 
 All markers must be triggered after being published, by calling the ``trigger()`` function. This allows batch publishing to be achieved by only calling after several markers have been created, greatly increasing the speed of your application. You can even explicitly tell ``rviz_visual_tools`` how often to publish via the ``triggerEvery(NUM_MARKERS)`` command:
 
@@ -187,16 +218,17 @@ This package helps you quickly choose colors - feel free to send PRs with more c
 
 ### Available Marker Sizes
 
+    XXXXSMALL,
+    XXXSMALL,
     XXSMALL,
     XSMALL,
     SMALL,
-    REGULAR,
+    MEDIUM,
     LARGE,
-    xLARGE,
-    xxLARGE,
-    xxxLARGE,
     XLARGE,
-    XXLARGE
+    XXLARGE,
+    XXXLARGE,
+    XXXXLARGE,
 
 ## TF Visual Tools
 
@@ -206,6 +238,8 @@ This tool lets you easily debug Eigen transforms in Rviz. Demo use:
     Eigen::Affine3d world_to_shelf_transform = Eigen::Affine3d::Identity(); // or whatever value
     tf_visualizer.publishTransform(world_to_shelf_transform, "world", "shelf");
 
+*Note: this is a work in progress*
+
 ## Testing and Linting
 
 To run [roslint](http://wiki.ros.org/roslint), use the following command with [catkin-tools](https://catkin-tools.readthedocs.org/):