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* Initial docking panel Signed-off-by: Alberto Tudela <[email protected]> * Only one goal status Signed-off-by: Alberto Tudela <[email protected]> * Added dock pose Signed-off-by: Alberto Tudela <[email protected]> * Fix size of text Signed-off-by: Alberto Tudela <[email protected]> * Update rviz Signed-off-by: Alberto Tudela <[email protected]> * Update rviz config Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>
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nav2_rviz_plugins/include/nav2_rviz_plugins/docking_panel.hpp
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| // Copyright (c) 2024 Alberto J. Tudela Roldán | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef NAV2_RVIZ_PLUGINS__DOCKING_PANEL_HPP_ | ||
| #define NAV2_RVIZ_PLUGINS__DOCKING_PANEL_HPP_ | ||
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| // QT | ||
| #include <QtWidgets> | ||
| #include <QBasicTimer> | ||
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| #include <string> | ||
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| // ROS | ||
| #include "rclcpp/rclcpp.hpp" | ||
| #include "rclcpp_action/rclcpp_action.hpp" | ||
| #include "rviz_common/panel.hpp" | ||
| #include "sensor_msgs/msg/battery_state.hpp" | ||
| #include "nav2_msgs/action/dock_robot.hpp" | ||
| #include "nav2_msgs/action/undock_robot.hpp" | ||
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| class QLineEdit; | ||
| class QPushButton; | ||
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| namespace nav2_rviz_plugins | ||
| { | ||
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| class DockingPanel : public rviz_common::Panel | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| explicit DockingPanel(QWidget * parent = 0); | ||
| virtual ~DockingPanel(); | ||
| void onInitialize() override; | ||
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| private Q_SLOTS: | ||
| void onDockingButtonPressed(); | ||
| void onUndockingButtonPressed(); | ||
| void dockIdCheckbox(); | ||
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| private: | ||
| using Dock = nav2_msgs::action::DockRobot; | ||
| using Undock = nav2_msgs::action::UndockRobot; | ||
| using DockGoalHandle = rclcpp_action::ClientGoalHandle<Dock>; | ||
| using UndockGoalHandle = rclcpp_action::ClientGoalHandle<Undock>; | ||
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| // Start the actions | ||
| void startDocking(); | ||
| void startUndocking(); | ||
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| // Cancel the actions | ||
| void cancelDocking(); | ||
| void cancelUndocking(); | ||
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| // The (non-spinning) client node used to invoke the action client | ||
| void timerEvent(QTimerEvent * event) override; | ||
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| // Create label string from feedback msg | ||
| static inline QString getDockFeedbackLabel(Dock::Feedback msg = Dock::Feedback()); | ||
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| // Create label string from status msg | ||
| template<typename T> | ||
| static inline std::string toLabel(T & msg); | ||
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| // Round off double to the specified precision and convert to string | ||
| static inline std::string toString(double val, int precision = 0); | ||
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| // Convert the dock state and error code to string | ||
| static inline std::string dockStateToString(int16_t state); | ||
| static inline std::string dockErrorToString(int16_t error_code); | ||
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| // The (non-spinning) client node used to invoke the action client | ||
| rclcpp::Node::SharedPtr client_node_; | ||
| // Timeout value when waiting for action servers to respond | ||
| std::chrono::milliseconds server_timeout_; | ||
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| // Flags to indicate if the plugins have been loaded | ||
| bool plugins_loaded_ = false; | ||
| bool server_failed_ = false; | ||
| bool tried_once_ = false; | ||
| QBasicTimer timer_; | ||
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| QVBoxLayout * main_layout_{nullptr}; | ||
| QHBoxLayout * info_layout_{nullptr}; | ||
| QVBoxLayout * feedback_layout_{nullptr}; | ||
| QHBoxLayout * dock_id_layout_{nullptr}; | ||
| QHBoxLayout * dock_type_layout_{nullptr}; | ||
| QHBoxLayout * dock_pose_layout_{nullptr}; | ||
| QHBoxLayout * nav_stage_layout_{nullptr}; | ||
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| QComboBox * dock_type_{nullptr}; | ||
| QPushButton * docking_button_{nullptr}; | ||
| QPushButton * undocking_button_{nullptr}; | ||
| QCheckBox * use_dock_id_checkbox_{nullptr}; | ||
| QCheckBox * nav_to_staging_checkbox_{nullptr}; | ||
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| QLabel * docking_goal_status_indicator_{nullptr}; | ||
| QLabel * docking_feedback_indicator_{nullptr}; | ||
| QLabel * docking_result_indicator_{nullptr}; | ||
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| QLineEdit * dock_id_{nullptr}; | ||
| QLineEdit * dock_pose_x_{nullptr}; | ||
| QLineEdit * dock_pose_y_{nullptr}; | ||
| QLineEdit * dock_pose_yaw_{nullptr}; | ||
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| // The current state of the docking and undocking actions | ||
| bool docking_in_progress_ = false; | ||
| bool undocking_in_progress_ = false; | ||
| bool use_dock_id_ = false; | ||
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| // The Dock and Undock action client | ||
| rclcpp_action::Client<Dock>::SharedPtr dock_client_; | ||
| rclcpp_action::Client<Undock>::SharedPtr undock_client_; | ||
| DockGoalHandle::SharedPtr dock_goal_handle_; | ||
| UndockGoalHandle::SharedPtr undock_goal_handle_; | ||
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| // Docking / Undocking action feedback subscribers | ||
| rclcpp::Subscription<Dock::Impl::FeedbackMessage>::SharedPtr docking_feedback_sub_; | ||
| rclcpp::Subscription<Undock::Impl::FeedbackMessage>::SharedPtr undocking_feedback_sub_; | ||
| rclcpp::Subscription<Dock::Impl::GoalStatusMessage>::SharedPtr docking_goal_status_sub_; | ||
| rclcpp::Subscription<Undock::Impl::GoalStatusMessage>::SharedPtr undocking_goal_status_sub_; | ||
| }; | ||
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| } // namespace nav2_rviz_plugins | ||
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| #endif // NAV2_RVIZ_PLUGINS__DOCKING_PANEL_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,46 @@ | ||
| // Copyright (c) 2019 Intel Corporation | ||
| // Copyright (c) 2024 Neobotix GmbH | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef NAV2_RVIZ_PLUGINS__UTILS_HPP_ | ||
| #define NAV2_RVIZ_PLUGINS__UTILS_HPP_ | ||
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| #include <QtWidgets> | ||
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| #include <string> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "action_msgs/msg/goal_status.hpp" | ||
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| namespace nav2_rviz_plugins | ||
| { | ||
|
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| /** | ||
| * @brief Load the avaialble plugins into the combo box | ||
| * @param node The node to use for loading the plugins | ||
| * @param server_failed if the server failed to load the plugins, false otherwise | ||
| * @param server_name The name of the server to load plugins for | ||
| * @param plugin_type The type of plugin to load | ||
| * @param combo_box The combo box to add the loaded plugins to | ||
| */ | ||
| void pluginLoader( | ||
| rclcpp::Node::SharedPtr node, bool & server_failed, const std::string & server_name, | ||
| const std::string & plugin_type, QComboBox * combo_box); | ||
|
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| // Create label string from goal status msg | ||
| QString getGoalStatusLabel( | ||
| std::string title = "Feedback", int8_t status = action_msgs::msg::GoalStatus::STATUS_UNKNOWN); | ||
| } // namespace nav2_rviz_plugins | ||
|
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| #endif // NAV2_RVIZ_PLUGINS__UTILS_HPP_ |
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