Port autoware-planning-rviz-plugin (autowarefoundation#103)

* Port to ROS2 Signed-off-by: Servando German Serrano <[email protected]> * Update deprecated Signed-off-by: Servando German Serrano <[email protected]> * Update namespaces Signed-off-by: Servando German Serrano <[email protected]>
tkimura4 · Dec 3, 2021 · 23d343b · 23d343b
1 parent 0b28c5f
commit 23d343b
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Showing 10 changed files with 180 additions and 185 deletions.
diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/CMakeLists.txt b/common/util/rviz_plugins/autoware_planning_rviz_plugin/CMakeLists.txt
@@ -1,12 +1,16 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(autoware_planning_rviz_plugin)
-add_compile_options(-std=c++14 -Wall)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rviz
-  autoware_planning_msgs
-)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wno-unused-parameter)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
 set(QT_LIBRARIES Qt5::Widgets)
@@ -15,19 +19,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 add_definitions(-DQT_NO_KEYWORDS)
 find_package(Eigen3 REQUIRED)
 
-catkin_package(
-  CATKIN_DEPENDS
-    roscpp
-    rviz
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
-)
-
-add_library(autoware_planning_rviz_plugin
+ament_auto_add_library(autoware_planning_rviz_plugin
   include/path/display.hpp
   src/path/display.cpp
   include/trajectory/display.hpp
@@ -37,21 +29,14 @@ add_library(autoware_planning_rviz_plugin
 )
 
 target_link_libraries(autoware_planning_rviz_plugin
-  ${catkin_LIBRARIES} ${QT_LIBRARIES}
-)
-
-add_dependencies(autoware_planning_rviz_plugin
-  ${catkin_EXPORTED_TARGETS}
-)
-
-install(TARGETS autoware_planning_rviz_plugin
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ${QT_LIBRARIES}
 )
 
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
 
-install(
-  DIRECTORY
-    icons
-    plugins
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
 )
diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/COLCON_IGNORE b/common/util/rviz_plugins/autoware_planning_rviz_plugin/COLCON_IGNORE
diff --git a/...z_plugins/autoware_planning_rviz_plugin/include/mission_checkpoint/mission_checkpoint.hpp b/...z_plugins/autoware_planning_rviz_plugin/include/mission_checkpoint/mission_checkpoint.hpp
@@ -32,19 +32,19 @@
 #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
 #include <QObject>
 
-#include <ros/ros.h>
+#include <rclcpp/node.hpp>
 
-#include <rviz/default_plugin/tools/pose_tool.h>
+#include <rviz_default_plugins/tools/pose/pose_tool.hpp>
+#include <rviz_common/display_context.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/string_property.hpp>
 #endif
 
-namespace rviz
-{
-class Arrow;
-class DisplayContext;
-class StringProperty;
-class FloatProperty;
+#include <geometry_msgs/msg/pose_stamped.hpp>
 
-class MissionCheckpointTool : public PoseTool
+namespace rviz_plugins
+{
+class MissionCheckpointTool : public rviz_default_plugins::tools::PoseTool
 {
   Q_OBJECT
 public:
@@ -59,15 +59,15 @@ private Q_SLOTS:
   void updateTopic();
 
 private:
-  ros::NodeHandle nh_;
-  ros::Publisher pose_pub_;
+  rclcpp::Clock::SharedPtr clock_;
+  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_pub_;
 
-  StringProperty * pose_topic_property_;
-  StringProperty * twist_topic_property_;
-  FloatProperty * std_dev_x_;
-  FloatProperty * std_dev_y_;
-  FloatProperty * std_dev_theta_;
-  FloatProperty * position_z_;
+  rviz_common::properties::StringProperty * pose_topic_property_;
+  rviz_common::properties::StringProperty * twist_topic_property_;
+  rviz_common::properties::FloatProperty * std_dev_x_;
+  rviz_common::properties::FloatProperty * std_dev_y_;
+  rviz_common::properties::FloatProperty * std_dev_theta_;
+  rviz_common::properties::FloatProperty * position_z_;
 };
 
-}  // namespace rviz
+}  // namespace rviz_plugins
diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/include/path/display.hpp b/common/util/rviz_plugins/autoware_planning_rviz_plugin/include/path/display.hpp
@@ -18,25 +18,27 @@
 
 #include <OgreBillboardSet.h>
 #include <OgreManualObject.h>
+#include <OgreMaterialManager.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-#include <ros/ros.h>
-#include <rviz/display_context.h>
-#include <rviz/frame_manager.h>
-#include <rviz/message_filter_display.h>
-#include <rviz/properties/bool_property.h>
-#include <rviz/properties/color_property.h>
-#include <rviz/properties/float_property.h>
-#include <rviz/validate_floats.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rviz_common/display_context.hpp>
+#include <rviz_common/frame_manager_iface.hpp>
+#include <rviz_common/message_filter_display.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/parse_color.hpp>
+#include <rviz_common/validate_floats.hpp>
 
 #include <deque>
 #include <memory>
 
-#include "autoware_planning_msgs/Path.h"
+#include "autoware_planning_msgs/msg/path.hpp"
 
 namespace rviz_plugins
 {
-class AutowarePathDisplay : public rviz::MessageFilterDisplay<autoware_planning_msgs::Path>
+class AutowarePathDisplay : public rviz_common::MessageFilterDisplay<autoware_planning_msgs::msg::Path>
 {
   Q_OBJECT
 
@@ -51,28 +53,28 @@ private Q_SLOTS:
   void updateVisualization();
 
 protected:
-  void processMessage(const autoware_planning_msgs::PathConstPtr & msg_ptr) override;
+  void processMessage(const autoware_planning_msgs::msg::Path::ConstSharedPtr msg_ptr) override;
   std::unique_ptr<Ogre::ColourValue> setColorDependsOnVelocity(
     const double vel_max, const double cmd_vel);
   std::unique_ptr<Ogre::ColourValue> gradation(
     const QColor & color_min, const QColor & color_max, const double ratio);
   Ogre::ManualObject * path_manual_object_;
   Ogre::ManualObject * velocity_manual_object_;
-  rviz::BoolProperty * property_path_view_;
-  rviz::BoolProperty * property_velocity_view_;
-  rviz::FloatProperty * property_path_width_;
-  rviz::ColorProperty * property_path_color_;
-  rviz::ColorProperty * property_velocity_color_;
-  rviz::FloatProperty * property_path_alpha_;
-  rviz::FloatProperty * property_velocity_alpha_;
-  rviz::FloatProperty * property_velocity_scale_;
-  rviz::BoolProperty * property_path_color_view_;
-  rviz::BoolProperty * property_velocity_color_view_;
-  rviz::FloatProperty * property_vel_max_;
+  rviz_common::properties::BoolProperty * property_path_view_;
+  rviz_common::properties::BoolProperty * property_velocity_view_;
+  rviz_common::properties::FloatProperty * property_path_width_;
+  rviz_common::properties::ColorProperty * property_path_color_;
+  rviz_common::properties::ColorProperty * property_velocity_color_;
+  rviz_common::properties::FloatProperty * property_path_alpha_;
+  rviz_common::properties::FloatProperty * property_velocity_alpha_;
+  rviz_common::properties::FloatProperty * property_velocity_scale_;
+  rviz_common::properties::BoolProperty * property_path_color_view_;
+  rviz_common::properties::BoolProperty * property_velocity_color_view_;
+  rviz_common::properties::FloatProperty * property_vel_max_;
 
 private:
-  autoware_planning_msgs::PathConstPtr last_msg_ptr_;
-  bool validateFloats(const autoware_planning_msgs::PathConstPtr & msg_ptr);
+  autoware_planning_msgs::msg::Path::ConstSharedPtr last_msg_ptr_;
+  bool validateFloats(const autoware_planning_msgs::msg::Path::ConstSharedPtr & msg_ptr);
 };
 
 }  // namespace rviz_plugins
diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/include/trajectory/display.hpp b/common/util/rviz_plugins/autoware_planning_rviz_plugin/include/trajectory/display.hpp
@@ -18,26 +18,28 @@
 
 #include <OgreBillboardSet.h>
 #include <OgreManualObject.h>
+#include <OgreMaterialManager.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
-#include <ros/ros.h>
-#include <rviz/display_context.h>
-#include <rviz/frame_manager.h>
-#include <rviz/message_filter_display.h>
-#include <rviz/properties/bool_property.h>
-#include <rviz/properties/color_property.h>
-#include <rviz/properties/float_property.h>
-#include <rviz/validate_floats.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rviz_common/display_context.hpp>
+#include <rviz_common/frame_manager_iface.hpp>
+#include <rviz_common/message_filter_display.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/parse_color.hpp>
+#include <rviz_common/validate_floats.hpp>
 
 #include <deque>
 #include <memory>
 
-#include "autoware_planning_msgs/Trajectory.h"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
 
 namespace rviz_plugins
 {
 class AutowareTrajectoryDisplay
-: public rviz::MessageFilterDisplay<autoware_planning_msgs::Trajectory>
+: public rviz_common::MessageFilterDisplay<autoware_planning_msgs::msg::Trajectory>
 {
   Q_OBJECT
 
@@ -52,28 +54,28 @@ private Q_SLOTS:
   void updateVisualization();
 
 protected:
-  void processMessage(const autoware_planning_msgs::TrajectoryConstPtr & msg_ptr) override;
+  void processMessage(const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr) override;
   std::unique_ptr<Ogre::ColourValue> setColorDependsOnVelocity(
     const double vel_max, const double cmd_vel);
   std::unique_ptr<Ogre::ColourValue> gradation(
     const QColor & color_min, const QColor & color_max, const double ratio);
   Ogre::ManualObject * path_manual_object_;
   Ogre::ManualObject * velocity_manual_object_;
-  rviz::BoolProperty * property_path_view_;
-  rviz::BoolProperty * property_velocity_view_;
-  rviz::FloatProperty * property_path_width_;
-  rviz::ColorProperty * property_path_color_;
-  rviz::ColorProperty * property_velocity_color_;
-  rviz::FloatProperty * property_velocity_scale_;
-  rviz::FloatProperty * property_path_alpha_;
-  rviz::FloatProperty * property_velocity_alpha_;
-  rviz::BoolProperty * property_path_color_view_;
-  rviz::BoolProperty * property_velocity_color_view_;
-  rviz::FloatProperty * property_vel_max_;
+  rviz_common::properties::BoolProperty * property_path_view_;
+  rviz_common::properties::BoolProperty * property_velocity_view_;
+  rviz_common::properties::FloatProperty * property_path_width_;
+  rviz_common::properties::ColorProperty * property_path_color_;
+  rviz_common::properties::ColorProperty * property_velocity_color_;
+  rviz_common::properties::FloatProperty * property_velocity_scale_;
+  rviz_common::properties::FloatProperty * property_path_alpha_;
+  rviz_common::properties::FloatProperty * property_velocity_alpha_;
+  rviz_common::properties::BoolProperty * property_path_color_view_;
+  rviz_common::properties::BoolProperty * property_velocity_color_view_;
+  rviz_common::properties::FloatProperty * property_vel_max_;
 
 private:
-  autoware_planning_msgs::TrajectoryConstPtr last_msg_ptr_;
-  bool validateFloats(const autoware_planning_msgs::TrajectoryConstPtr & msg_ptr);
+  autoware_planning_msgs::msg::Trajectory::ConstSharedPtr last_msg_ptr_;
+  bool validateFloats(const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr & msg_ptr);
 };
 
 }  // namespace rviz_plugins
diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/package.xml b/common/util/rviz_plugins/autoware_planning_rviz_plugin/package.xml
@@ -7,15 +7,20 @@
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <license>Apache2</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rviz</build_depend>
-  <build_depend>autoware_planning_msgs</build_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rviz</exec_depend>
-  <exec_depend>autoware_planning_msgs</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_default_plugins</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
   </export>
 

diff --git a/common/util/rviz_plugins/autoware_planning_rviz_plugin/plugins/plugin_description.xml b/common/util/rviz_plugins/autoware_planning_rviz_plugin/plugins/plugin_description.xml
@@ -1,12 +1,16 @@
 <library path="lib/libautoware_planning_rviz_plugin">
-  <class name="rviz_plugins/Path" type="rviz_plugins::AutowarePathDisplay" base_class_type="rviz::Display">
+  <class name="rviz_plugins/Path" 
+    type="rviz_plugins::AutowarePathDisplay" 
+    base_class_type="rviz_common::Display">
     <description>Display autoware_planning_msg::Path</description>
   </class>
-  <class name="rviz_plugins/Trajectory" type="rviz_plugins::AutowareTrajectoryDisplay" base_class_type="rviz::Display">
+  <class name="rviz_plugins/Trajectory" 
+    type="rviz_plugins::AutowareTrajectoryDisplay" 
+    base_class_type="rviz_common::Display">
     <description>Display autoware_planning_msg::Trajectory</description>
   </class>
-  <class name="rviz/MissionCheckpointTool"
-    type="rviz::MissionCheckpointTool"
-    base_class_type="rviz::Tool">
+  <class name="rviz_plugins/MissionCheckpointTool"
+    type="rviz_plugins::MissionCheckpointTool"
+    base_class_type="rviz_common::Tool">
   </class>
 </library>