Migrate Interaction Tool

README.md

@@ -21,8 +21,8 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 | Illuminance           | 2D Nav Goal   | Top Down Orthographic | Views           |
 | Image                 | Publish Point |
 | Laser Scan            | Initial Pose  |
-| Map                   | 
-| Marker                | 
+| Map                   | Interact      |
+| Marker                |
 | Marker Array          |
 | Odometry              |
 | Point Cloud (1 and 2) |
@@ -43,7 +43,7 @@ These features have not been ported to `ros2/rviz` yet.
 
 | Displays             | Tools        | Panels |
 | -------------------- | ------------ | ------ |
-| Axes                 | Interact     | Time   |
+| Axes                 |              | Time   |
 | DepthCloud           |
 | Effort               |
 | Interactive Marker   |

rviz_common/default.rviz

@@ -54,9 +54,8 @@ Visualization Manager:
     Fixed Frame: /map
   Name: root
   Tools:
-    # TODO(wjwwood): restore these tools when ported
-    # - Class: rviz/Interact
-    #   Hide Inactive Objects: true
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
     - Class: rviz_default_plugins/Select
     - Class: rviz_default_plugins/FocusCamera

rviz_common/include/rviz_common/render_panel.hpp

@@ -104,8 +104,6 @@ class RVIZ_COMMON_PUBLIC RenderPanel : public QWidget
 
   static const Ogre::Vector3 default_camera_pose_;
 
-// TODO(wjwwood): reenable these and pass down to rviz_rendering::RenderWindow
-#if 0
   /// Show the given menu as a context menu, positioned based on the current mouse position.
   /**
    * This can be called from any thread.
@@ -114,7 +112,6 @@ class RVIZ_COMMON_PUBLIC RenderPanel : public QWidget
 
   /// Return true if the context menu for this panel is visible.
   bool contextMenuVisible();
-#endif
 
   // TODO(wjwwood): this should be moved into rviz_rendering::RenderWindowImpl, I think
   // virtual void sceneManagerDestroyed(Ogre::SceneManager * source);
@@ -177,7 +174,7 @@ class RVIZ_COMMON_PUBLIC RenderPanel : public QWidget
 
 private Q_SLOTS:
   void sendMouseMoveEvent();
-  // void onContextMenuHide();
+  void onContextMenuHide();
 
 private:
   QTimer * fake_mouse_move_event_timer_;

rviz_common/src/rviz_common/render_panel.cpp

@@ -296,7 +296,6 @@ void RenderPanel::resizeEvent(QResizeEvent * event)
 
 const Ogre::Vector3 RenderPanel::default_camera_pose_ = Ogre::Vector3(999999, 999999, 999999);
 
-#if 0
 void RenderPanel::showContextMenu(std::shared_ptr<QMenu> menu)
 {
   std::lock_guard<std::mutex> lock(context_menu_mutex_);
@@ -315,7 +314,6 @@ bool RenderPanel::contextMenuVisible()
 {
   return context_menu_visible_;
 }
-#endif
 
 void RenderPanel::contextMenuEvent(QContextMenuEvent * event)
 {

rviz_default_plugins/CMakeLists.txt

@@ -116,6 +116,7 @@ set(rviz_default_plugins_headers_to_moc
   include/rviz_default_plugins/robot/robot_element_base_class.hpp
   include/rviz_default_plugins/tools/measure/measure_tool.hpp
   include/rviz_default_plugins/tools/nav_goal/goal_tool.hpp
+  include/rviz_default_plugins/tools/interaction/interaction_tool.hpp
   include/rviz_default_plugins/tools/pose/pose_tool.hpp
   include/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.hpp
   include/rviz_default_plugins/tools/point/point_tool.hpp
@@ -186,6 +187,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/robot/robot_link.cpp
   src/rviz_default_plugins/robot/robot_element_base_class.cpp
   src/rviz_default_plugins/robot/tf_link_updater.cpp
+  src/rviz_default_plugins/tools/interaction/interaction_tool.cpp
   src/rviz_default_plugins/tools/measure/measure_tool.cpp
   src/rviz_default_plugins/tools/focus/focus_tool.cpp
   src/rviz_default_plugins/tools/move/move_tool.cpp