Right_Click_Services

README.md

@@ -106,7 +106,7 @@ Overlays a [sensor_msgs::Image](http://docs.ros.org/api/sensor_msgs/html/msg/Ima
 * Height: Display height
 * Units: (pixels | percent of window)
 
-### LaserScan 
+### LaserScan
 
 Projects a [sensor_msgs::LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html) message into the scene.
 
@@ -135,7 +135,7 @@ This plugin allows the user to send goals to [move_base](wiki.ros.org/move_base)
 * Abort: stop the execution of the current goal.
 
 ### Multi-res Image
-Projects a geo-referenced multi-resolution image tile map into the scene.  The concept is the same as the Google Maps style pan/zoom satellite imagery. 
+Projects a geo-referenced multi-resolution image tile map into the scene.  The concept is the same as the Google Maps style pan/zoom satellite imagery.
 
 ![](https://github.com/swri-robotics/mapviz/wiki/multires2.png)
 
@@ -148,11 +148,11 @@ A custom format is currently used to store the map tiles and geo-reference. The
     image_width: 29184     # The full pixel width of the map
     image_height: 15872    # The full pixel height of the map
     tile_size: 512         # The pixel size of the individual tiles
-    
+
     datum: "wgs84"         # Datum is currently ignored
     projection: "utm"      # (utm|wgs84)
- 
-                           # At least 2 tie points are required for 
+
+                           # At least 2 tie points are required for
                            # scale, and 3 for orientation.
     tiepoints:             #   [pixel x, pixel y, geo x, geo y]
      - point: [4799, 209, 535674.5, 3258382.5]
@@ -162,7 +162,7 @@ A custom format is currently used to store the map tiles and geo-reference. The
 
 The map tiles are stored in directories for each resolution starting with layer0, the full resolution.  In subsequent layers the resolution is halved until the entire map fits within a single tile.  
 
-Tiles are named using the following format: 
+Tiles are named using the following format:
 
     tile%05dx%05d.png % (row, column)
 
@@ -204,6 +204,15 @@ Publishes a [geometry_msgs::PointStamped](http://docs.ros.org/api/geometry_msgs/
  * Topic: The topic to publish the point to
  * Frame: The target frame to transform the point to before publishing it
 
+### Right Click Services
+
+Shows a Custom Context Menu with available services at this sepcific gps location.
+**Parameters**
+ * Topic: The topic to publish gps point to
+ * Frame: The target frame to transform the point to before publishing it
+ * available services topic: Service topic for Mapviz to retreive available services From
+ * gps command topic: Service topic for Mapviz to request the chosen gps command to be executed
+
 ### Robot Image
 
 Projects an image loaded from file into the scene to represent the robot platform.

mapviz/CMakeLists.txt

@@ -194,6 +194,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 )
 add_dependencies(${PROJECT_NAME}
   ${PROJECT_NAME}_gencpp
+  ${catkin_EXPORTED_TARGETS}
 )
 
 ### Install mapviz ###

mapviz/include/mapviz/map_canvas.h

@@ -62,6 +62,9 @@ namespace mapviz
     explicit MapCanvas(QWidget *parent = 0);
     ~MapCanvas();
 
+    std::string showCustomContextMenu(const QPoint &pos,std::vector<std::string> result);
+
+
     void InitializeTf(boost::shared_ptr<tf::TransformListener> tf);
 
     void AddPlugin(MapvizPluginPtr plugin, int order);
@@ -181,6 +184,7 @@ namespace mapviz
     void mouseMoveEvent(QMouseEvent* e);
     void keyPressEvent(QKeyEvent* e);
 
+
     void Recenter();
     void TransformTarget(QPainter* painter);
     void Zoom(float factor);

mapviz/src/map_canvas.cpp

@@ -31,8 +31,14 @@
 #include <GL/glew.h>
 #include <GL/gl.h>
 #include <GL/glu.h>
-
+#include <iostream>
 #include <mapviz/map_canvas.h>
+#include <QMenu>
+#include <QAction>
+#include "ros/ros.h"
+#include <vector>
+#include <string>
+#include <sstream>
 
 // C++ standard libraries
 #include <cmath>
@@ -90,6 +96,7 @@ MapCanvas::MapCanvas(QWidget* parent) :
   setFrameRate(50.0);
   frame_rate_timer_.start();
   setFocusPolicy(Qt::StrongFocus);
+  this->setContextMenuPolicy(Qt::CustomContextMenu);
 }
 
 MapCanvas::~MapCanvas()
@@ -319,13 +326,15 @@ void MapCanvas::Zoom(float factor)
 
 void MapCanvas::mousePressEvent(QMouseEvent* e)
 {
+
   mouse_x_ = e->x();
   mouse_y_ = e->y();
   mouse_previous_y_ = mouse_y_;
   drag_x_ = 0;
   drag_y_ = 0;
   mouse_pressed_ = true;
   mouse_button_ = e->button();
+
 }
 
 void MapCanvas::keyPressEvent(QKeyEvent* event)
@@ -614,4 +623,38 @@ double MapCanvas::frameRate() const
 {
   return 1000.0 / frame_rate_timer_.interval();
 }
-}  // namespace mapviz
+
+std::string MapCanvas::showCustomContextMenu(const QPoint &pos,std::vector<std::string> result){
+  QMenu contextMenu(this);
+  std::vector<QAction *> actions;
+
+  for(auto service : result)
+  {
+    QAction * act= new QAction(service.c_str(),this);
+    actions.push_back(act);
+  }
+  for(auto action: actions)
+  {
+    contextMenu.addAction(action);
+  }
+
+  QAction* selectedItem=contextMenu.exec(pos);
+  for(auto action: actions)
+  {
+    action->deleteLater();
+  }
+
+  if (selectedItem)
+  {
+    ROS_INFO("make call to %s",selectedItem->text().toStdString().c_str());
+    return selectedItem->text().toStdString().c_str();
+  }else{
+    ROS_ERROR("Please choose a service from the context menu by clicking on a displayed item");
+    return "";
+  }
+
+}
+
+
+}
+

mapviz_plugins/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package mapviz_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2018-11-16)
+------------------
+* Merge all -devel branches into a single master branch
+* Don't transform laser scans twice (`#544 <https://github.com/swri-robotics/mapviz/issues/544>`_)
+* Improving point_drawing plugins and bug fix of tf_plugin (`#557 <https://github.com/swri-robotics/mapviz/issues/557>`_)
+* OpenGL rendering of PointClouds  (2X speedup) (`#558 <https://github.com/swri-robotics/mapviz/issues/558>`_)
+* Occupancy grid (new plugin) (`#568 <https://github.com/swri-robotics/mapviz/issues/568>`_)
+* Bug fix in image plugin (`#563 <https://github.com/swri-robotics/mapviz/issues/563>`_)
+* Fix Indigo build, clean up warnings (`#597 <https://github.com/swri-robotics/mapviz/issues/597>`_)
+* Create Coordinate Picker plugin (`#593 <https://github.com/swri-robotics/mapviz/issues/593>`_)
+* Contributors: Davide Faconti, Ed Venator, Edward Venator, Elliot Johnson, Jerry Towler, Marc Alban, Matthew, Matthew Bries, Mikael Arguedas, Neal Seegmiller, Nicholas Alton, P. J. Reed, Vincent Rousseau
+
 0.2.6 (2018-07-31)
 ------------------
 * Fix timestamp interval (`#588 <https://github.com/swri-robotics/mapviz/issues/588>`_)

mapviz_plugins/CMakeLists.txt

@@ -12,6 +12,7 @@ set(DEPENDENCIES
   marti_visualization_msgs
   move_base_msgs
   nav_msgs
+  map_msgs
   pluginlib 
   roscpp 
   sensor_msgs
@@ -28,6 +29,36 @@ set(DEPENDENCIES
 
 find_package(catkin REQUIRED COMPONENTS ${DEPENDENCIES})
 
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+find_package(Qt5Core REQUIRED)
+find_package(Qt5Gui REQUIRED)
+find_package(Qt5OpenGL REQUIRED)
+find_package(Qt5Widgets REQUIRED)
+set(QT_LIBRARIES
+  ${Qt5Core_LIBRARIES}
+  ${Qt5Gui_LIBRARIES}
+  ${Qt5OpenGL_LIBRARIES}
+  ${Qt5Widgets_LIBRARIES}
+)
+include_directories(
+  ${Qt5Core_INCLUDE_DIRS}
+  ${Qt5Gui_INCLUDE_DIRS}
+  ${Qt5OpenGL_INCLUDE_DIRS}
+  ${Qt5Widgets_INCLUDE_DIRS}
+)
+add_definitions(
+  ${Qt5Core_DEFINITIONS}
+  ${Qt5Gui_DEFINITIONS}
+  ${Qt5OpenGL_DEFINITIONS}
+  ${Qt5Widgets_DEFINITIONS}
+)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Widgets_EXECUTABLE_COMPILE_FLAGS}")
+
+
+add_service_files(FILES
+  GPSCommand.srv
+)
+generate_messages(DEPENDENCIES sensor_msgs std_msgs)
 ### QT ###
 if("$ENV{ROS_DISTRO}" STRLESS "kinetic")
   find_package(Qt4 COMPONENTS REQUIRED QtCore QtGui QtOpenGL)
@@ -97,10 +128,12 @@ set(UI_FILES
     ui/marker_config.ui
     ui/move_base_config.ui
     ui/navsat_config.ui
+    ui/occupancy_grid_config.ui
     ui/odometry_config.ui
     ui/path_config.ui
     ui/plan_route_config.ui
     ui/point_click_publisher_config.ui
+    ui/right_click_services_config.ui
     ui/pointcloud2_config.ui
     ui/robot_image_config.ui
     ui/route_config.ui
@@ -122,11 +155,13 @@ set(SRC_FILES
     src/marker_plugin.cpp 
     src/move_base_plugin.cpp
     src/navsat_plugin.cpp
+    src/occupancy_grid_plugin.cpp
     src/odometry_plugin.cpp 
     src/path_plugin.cpp
     src/placeable_window_proxy.cpp
     src/plan_route_plugin.cpp
     src/point_click_publisher_plugin.cpp
+    src/right_click_services_plugin.cpp
     src/pointcloud2_plugin.cpp
     src/point_drawing_plugin.cpp
     src/robot_image_plugin.cpp
@@ -149,12 +184,14 @@ set(HEADER_FILES
     include/${PROJECT_NAME}/marker_plugin.h
     include/${PROJECT_NAME}/move_base_plugin.h
     include/${PROJECT_NAME}/navsat_plugin.h
+    include/${PROJECT_NAME}/occupancy_grid_plugin.h
     include/${PROJECT_NAME}/odometry_plugin.h
     include/${PROJECT_NAME}/path_plugin.h
     include/${PROJECT_NAME}/path_plugin.h
     include/${PROJECT_NAME}/placeable_window_proxy.h
     include/${PROJECT_NAME}/plan_route_plugin.h
     include/${PROJECT_NAME}/point_click_publisher_plugin.h
+    include/${PROJECT_NAME}/right_click_services_plugin.h
     include/${PROJECT_NAME}/pointcloud2_plugin.h
     include/${PROJECT_NAME}/point_drawing_plugin.h
     include/${PROJECT_NAME}/robot_image_plugin.h

mapviz_plugins/include/mapviz_plugins/canvas_click_filter.h

@@ -55,7 +55,7 @@ namespace mapviz_plugins
     void setMaxClickMovement(qreal max_distance);
 
   Q_SIGNALS:
-    void pointClicked(const QPointF&);
+    void pointClicked(const QPointF&, const Qt::MouseButton&);
 
   protected:
     bool eventFilter(QObject *object, QEvent* event);

mapviz_plugins/include/mapviz_plugins/image_plugin.h

@@ -126,7 +126,7 @@ namespace mapviz_plugins
     int offset_y_;
     double width_;
     double height_;
-    QString transport_;
+    std::string transport_;
 
     bool force_resubscribe_;
     bool has_image_;

mapviz_plugins/include/mapviz_plugins/laserscan_plugin.h

@@ -99,6 +99,7 @@ namespace mapviz_plugins
       void UseRainbowChanged(int check_state);
       void UpdateColors();    
       void DrawIcon();
+      void ResetTransformedScans();
 
     private:
       struct StampedPoint
@@ -146,6 +147,7 @@ namespace mapviz_plugins
       size_t prev_ranges_size_;
       float  prev_angle_min_;
       float  prev_increment_;
+      bool GetScanTransform(const Scan &scan, swri_transform_util::Transform& transform);
   };
 }