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Use RViz node clock in tools #519

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merged 1 commit into from
Mar 17, 2020
Merged

Use RViz node clock in tools #519

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1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/tools/goal_pose/goal_tool.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ private Q_SLOTS:

private:
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_;
rclcpp::Clock::SharedPtr clock_;

rviz_common::properties::StringProperty * topic_property_;
rviz_common::properties::QosProfileProperty * qos_profile_property_;
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1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/tools/point/point_tool.hpp
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Expand Up @@ -85,6 +85,7 @@ public Q_SLOTS:
QCursor std_cursor_;
QCursor hit_cursor_;
rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr publisher_;
rclcpp::Clock::SharedPtr clock_;

rviz_common::properties::StringProperty * topic_property_;
rviz_common::properties::BoolProperty * auto_deactivate_property_;
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1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.hpp
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Expand Up @@ -73,6 +73,7 @@ private Q_SLOTS:

private:
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr publisher_;
rclcpp::Clock::SharedPtr clock_;

rviz_common::properties::StringProperty * topic_property_;
rviz_common::properties::QosProfileProperty * qos_profile_property_;
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7 changes: 5 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/tools/goal_pose/goal_tool.cpp
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Expand Up @@ -71,18 +71,21 @@ void GoalTool::onInitialize()

void GoalTool::updateTopic()
{
rclcpp::Node::SharedPtr raw_node =
context_->getRosNodeAbstraction().lock()->get_raw_node();
// TODO(anhosi, wjwwood): replace with abstraction for publishers once available
publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
publisher_ = raw_node->
template create_publisher<geometry_msgs::msg::PoseStamped>(
topic_property_->getStdString(), qos_profile_);
clock_ = raw_node->get_clock();
}

void GoalTool::onPoseSet(double x, double y, double theta)
{
std::string fixed_frame = context_->getFixedFrame().toStdString();

geometry_msgs::msg::PoseStamped goal;
goal.header.stamp = rclcpp::Clock().now();
goal.header.stamp = clock_->now();
goal.header.frame_id = fixed_frame;

goal.pose.position.x = x;
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7 changes: 5 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/tools/point/point_tool.cpp
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Expand Up @@ -86,10 +86,13 @@ void PointTool::deactivate() {}

void PointTool::updateTopic()
{
rclcpp::Node::SharedPtr raw_node =
context_->getRosNodeAbstraction().lock()->get_raw_node();
// TODO(anhosi, wjwwood): replace with abstraction for publishers once available
publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
publisher_ = raw_node->
template create_publisher<geometry_msgs::msg::PointStamped>(
topic_property_->getStdString(), qos_profile_);
clock_ = raw_node->get_clock();
}

void PointTool::updateAutoDeactivate() {}
Expand Down Expand Up @@ -134,7 +137,7 @@ void PointTool::publishPosition(const Ogre::Vector3 & position) const
geometry_msgs::msg::PointStamped point_stamped;
point_stamped.point = point;
point_stamped.header.frame_id = context_->getFixedFrame().toStdString();
point_stamped.header.stamp = rclcpp::Clock().now();
point_stamped.header.stamp = clock_->now();
publisher_->publish(point_stamped);
}

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7 changes: 5 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,12 @@ void InitialPoseTool::onInitialize()
void InitialPoseTool::updateTopic()
{
// TODO(anhosi, wjwwood): replace with abstraction for publishers once available
publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
rclcpp::Node::SharedPtr raw_node =
context_->getRosNodeAbstraction().lock()->get_raw_node();
publisher_ = raw_node->
template create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
topic_property_->getStdString(), qos_profile_);
clock_ = raw_node->get_clock();
}

void InitialPoseTool::onPoseSet(double x, double y, double theta)
Expand All @@ -84,7 +87,7 @@ void InitialPoseTool::onPoseSet(double x, double y, double theta)

geometry_msgs::msg::PoseWithCovarianceStamped pose;
pose.header.frame_id = fixed_frame;
pose.header.stamp = rclcpp::Clock().now();
pose.header.stamp = clock_->now();

pose.pose.pose.position.x = x;
pose.pose.pose.position.y = y;
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