TimePanel port

README.md

@@ -17,9 +17,9 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 | Axes                  | Move Camera   | Orbit                 | Displays        |
 | Camera                | Focus Camera  | XY Orbit              | Help            | 
 | Fluid Pressure        | Measure       | First Person          | Selections      |
-| Grid                  | Select        | Third Person Follower | Tool Properties | 
-| Grid Cells            | 2D Nav Goal   | Top Down Orthographic | Views           |
-| Illuminance           | Publish Point |
+| Grid                  | Select        | Third Person Follower | Time            |
+| Grid Cells            | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
+| Illuminance           | Publish Point |                       | Views           |
 | Image                 | Initial Pose  |
 | Interactive Marker    | Interact      |
 | Laser Scan            |
@@ -44,9 +44,9 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 ### Not yet ported
 These features have not been ported to `ros2/rviz` yet.
 
-| Displays      | Panels |
-| ------------- | ------ |
-| DepthCloud    | Time   |
+| Displays      |
+| ------------- |
+| DepthCloud    |
 | Effort        |
 
 Other features:

rviz_common/CMakeLists.txt

@@ -113,6 +113,7 @@ set(rviz_common_headers_to_moc
   include/rviz_common/interaction/selection_manager.hpp
   include/rviz_common/interaction/selection_manager_iface.hpp
   src/rviz_common/splash_screen.hpp
+  src/rviz_common/time_panel.hpp
   include/rviz_common/tool.hpp
   src/rviz_common/tool_manager.hpp
   src/rviz_common/tool_properties_panel.hpp
@@ -199,6 +200,7 @@ set(rviz_common_source_files
   src/rviz_common/interaction/selection_renderer.cpp
   src/rviz_common/interaction/view_picker.cpp
   src/rviz_common/splash_screen.cpp
+  src/rviz_common/time_panel.cpp
   src/rviz_common/transformation/identity_frame_transformer.cpp
   src/rviz_common/tool_manager.cpp
   src/rviz_common/tool_properties_panel.cpp

rviz_common/default.rviz

@@ -22,11 +22,11 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
-  # TODO(wjwwood): restore these panels when ported
-  # - Class: rviz/Time
-  #   Name: Time
-  #   SyncMode: 0
-  #   SyncSource: ""
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:

rviz_common/src/rviz_common/panel_factory.cpp

@@ -33,11 +33,10 @@
 
 #include <string>
 
-// TODO(wjwwood): reenable the remaining panels
 #include "./displays_panel.hpp"
 #include "./help_panel.hpp"
 #include "./selection_panel.hpp"
-// #include "./time_panel.hpp"
+#include "./time_panel.hpp"
 #include "./tool_properties_panel.hpp"
 #include "./transformation_panel.hpp"
 #include "./views_panel.hpp"
@@ -49,7 +48,6 @@ namespace rviz_common
 
 static Panel * newHelpPanel() {return new HelpPanel();}
 static Panel * newSelectionPanel() {return new SelectionPanel();}
-// static Panel * newTimePanel() {return new TimePanel();}
 static Panel * newToolPropertiesPanel() {return new ToolPropertiesPanel();}
 static Panel * newTransformationPanel() {return new TransformationPanel();}
 static Panel * newViewsPanel() {return new ViewsPanel();}
@@ -71,8 +69,12 @@ PanelFactory::PanelFactory(
   addBuiltInClass(
     "rviz_common", "Selection",
     "Show properties of selected objects", &newSelectionPanel);
-  // addBuiltInClass("rviz", "Time",
-  //   "Show the current time", &newTimePanel);
+  addBuiltInClass(
+    "rviz_common", "Time",
+    "Show the current time",
+    [manager]() -> Panel * {
+      return new TimePanel(manager, nullptr);
+    });
   addBuiltInClass(
     "rviz_common", "Tool Properties",
     "Show and edit properties of tools", &newToolPropertiesPanel);

rviz_common/src/rviz_common/time_panel.cpp

@@ -39,15 +39,15 @@
 #include "./visualization_manager.hpp"
 #include "frame_manager.hpp"
 
-#include "include/rviz_common/display_group.hpp"
+#include "rviz_common/display_group.hpp"
 
 #include "./time_panel.hpp"
 
-namespace rviz
+namespace rviz_common
 {
 
-TimePanel::TimePanel(QWidget * parent)
-: Panel(parent)
+TimePanel::TimePanel(VisualizationManager * manager, QWidget * parent)
+: Panel(parent), vis_manager_(manager)
 {
   wall_time_label_ = makeTimeLabel();
   wall_elapsed_label_ = makeTimeLabel();
@@ -121,6 +121,7 @@ void TimePanel::onInitialize()
   DisplayGroup * display_group = vis_manager_->getRootDisplayGroup();
   onDisplayAdded(display_group);
 
+  experimentalToggled(false);
   syncModeSelected(0);
   pauseToggled(false);
 }
@@ -153,20 +154,20 @@ void TimePanel::onDisplayAdded(Display * display)
   DisplayGroup * display_group = qobject_cast<DisplayGroup *>(display);
   if (display_group) {
     connect(
-      display_group, SIGNAL(displayAdded(rviz::Display*)), this,
-      SLOT(onDisplayAdded(rviz::Display*)));
+      display_group, &DisplayGroup::displayAdded,
+      this, &TimePanel::onDisplayAdded);
     connect(
-      display_group, SIGNAL(displayRemoved(rviz::Display*)), this,
-      SLOT(onDisplayRemoved(rviz::Display*)));
+      display_group, &DisplayGroup::displayRemoved,
+      this, &TimePanel::onDisplayRemoved);
 
     for (int i = 0; i < display_group->numDisplays(); i++) {
-      rviz::Display * display = display_group->getDisplayAt(i);
+      rviz_common::Display * display = display_group->getDisplayAt(i);
       onDisplayAdded(display);
     }
   } else {
     // *INDENT-OFF* - uncrustify cannot deal with commas here
-    connect(display, SIGNAL(timeSignal(rviz::Display *, ros::Time)), this,
-      SLOT(onTimeSignal(rviz::Display *, ros::Time)));
+    connect(display, SIGNAL(timeSignal(rviz_common::Display *, rclcpp::Time)), this,
+      SLOT(onTimeSignal(rviz_common::Display *, rclcpp::Time)));
     // *INDENT-ON*
   }
 }
@@ -180,7 +181,7 @@ void TimePanel::onDisplayRemoved(Display * display)
   }
 }
 
-void TimePanel::onTimeSignal(Display * display, ros::Time time)
+void TimePanel::onTimeSignal(Display * display, rclcpp::Time time)
 {
   QString name = display->getName();
   int index = sync_source_selector_->findData(QVariant( (qulonglong)display) );
@@ -246,16 +247,18 @@ void TimePanel::experimentalToggled(bool checked)
 
 void TimePanel::syncSourceSelected(int index)
 {
+  Q_UNUSED(index);
+
   // clear whatever was loaded from the config
   config_sync_source_.clear();
   vis_manager_->notifyConfigChanged();
 }
 
 void TimePanel::syncModeSelected(int mode)
 {
-  vis_manager_->getFrameManager()->setSyncMode( (FrameManager::SyncMode)mode);
+  vis_manager_->getFrameManager()->setSyncMode(FrameManager::SyncMode(mode) );
   sync_source_selector_->setEnabled(mode != FrameManager::SyncOff);
   vis_manager_->notifyConfigChanged();
 }
 
-}  // namespace rviz
+}  // namespace rviz_common

rviz_common/src/rviz_common/time_panel.hpp

@@ -30,8 +30,8 @@
 #ifndef RVIZ_COMMON__TIME_PANEL_HPP_
 #define RVIZ_COMMON__TIME_PANEL_HPP_
 
-#include "rviz_rendering/panel.hpp"
-#include "ros/time.h"
+#include "rviz_common/panel.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 class QLineEdit;
 class QComboBox;
@@ -40,7 +40,7 @@ class QPushButton;
 class QHBoxLayout;
 class QWidget;
 
-namespace rviz
+namespace rviz_common
 {
 
 class VisualizationManager;
@@ -55,7 +55,9 @@ class TimePanel : public Panel
   Q_OBJECT
 
 public:
-  explicit TimePanel(QWidget * parent = 0);
+  explicit TimePanel(
+    VisualizationManager * manager,
+    QWidget * parent = nullptr);
 
   virtual void onInitialize();
 
@@ -68,10 +70,10 @@ protected Q_SLOTS:
   /** Read time values from VisualizationManager and update displays. */
   void update();
 
-  void onDisplayAdded(rviz::Display * display);
-  void onDisplayRemoved(rviz::Display * display);
+  void onDisplayAdded(rviz_common::Display * display);
+  void onDisplayRemoved(rviz_common::Display * display);
 
-  void onTimeSignal(rviz::Display * display, ros::Time time);
+  void onTimeSignal(rviz_common::Display * display, rclcpp::Time time);
 
   virtual void load(const Config & config);
   virtual void save(Config config) const;
@@ -98,8 +100,10 @@ protected Q_SLOTS:
   QLineEdit * ros_elapsed_label_;
   QLineEdit * wall_time_label_;
   QLineEdit * wall_elapsed_label_;
+
+  VisualizationManager * vis_manager_;
 };
 
-}  // namespace rviz
+}  // namespace rviz_common
 
 #endif  // RVIZ_COMMON__TIME_PANEL_HPP_

rviz_common/src/rviz_common/visualization_manager.cpp

@@ -606,10 +606,7 @@ double VisualizationManager::getWallClockElapsed()
 
 double VisualizationManager::getROSTimeElapsed()
 {
-  // TODO(wjwwood): why does this function return now - begin, whereas the getWallClockElapsed
-  //                returns a pre-calculated elapsed value?
-  //                figure out how this function is being used and make these consistent
-  return (frame_manager_->getTime() - ros_time_begin_).nanoseconds() / 1e9;
+  return static_cast<double>(ros_time_elapsed_) / 1e9;
 }
 
 void VisualizationManager::updateBackgroundColor()