[rviz_rendering] implement better default scene until we have display types

RViz

This branch is currently contained in the main ros2.repos file of ROS 2 and can be used for ROS 2. The latest release will be available with your ROS 2 download.

ROS 2 does not have a wiki yet. To learn about RViz and its functionality, please refer to the ROS RViz wiki page.

Features

Already ported

These features have already been ported from ros-visualization/rviz to ros2/rviz. The basic documentation can still be found on the RViz wiki page. For some displays, the documentation is updated.

Displays	Tools	View Controller	Panels
Axes	Move Camera	Orbit	Displays
Camera	Focus Camera	XY Orbit	Help
DepthCloud	Measure	First Person	Selections
Effort	Select	Third Person Follower	Time
Fluid	2D Nav Goal	Top Down Orthographic	Tool Properties
Grid	Publish Point		Views
Grid Cells	Initial Pose
Illuminance	Interact
Image
Interactive Marker
Laser Scan
Map
Marker
Marker Array
Odometry
Point Cloud (1 and 2)
Point
Polygon
Pose
Pose Array
Pose With Covariance
Range
Relative Humidity
Robot Model
Temperature
TF
Wrench

Not yet ported

Other features:

Stereo

In case you wished to see those features in RViz for ROS 2, feel free to add a pull request. Make sure to read the developer guide below and the migration guide.

New features

Pluggable transformation library

In RViz for ROS 1 the frames transformation library used is tf2 (detailed information about it can be found here). In RViz for ROS 2 the frames transformation library is now pluggable, meaning that different transformation library plugins can be loaded and changed dynamically in the gui. Developers can create and use their own plugins to provide custom transformation behavior.

Two plugins are bundled with RViz:

a plugin for tf2 (TFFrameTransformer, in rviz_default_plugins), which provides the standard tf2 functionality and which is used as a default
a trivial plugin (IdentityFrameTransformer, in rviz_common), which always performs identity transforms. This plugin is used by default if the tf2 plugin is not available and no other valid plugin is specified.

As anticipated, in order for the user to choose the plugin to use, RViz provides a dedicated panel: the Transformation panel.

Note: Not all transformation plugins are necessarily compatible with all RViz displays (e.g. some of the default displays, like the TF display, can only work with tf2). In order to take this possibility into account, the TransformerGuard class is provided. Adding it to a display ensures that the display will be disabled and won't function in case the wrong transformer is used.

More detailed information on how to write a transformation plugin and on how to handle transformation specific displays can be found in the plugin development guide.

Developer Guide

Build

Building RViz together with ROS 2

The simplest way to build from source is to use the official installation guide, since RViz is part of the official ROS 2 repos file.

https://docs.ros.org/en/rolling/Installation.html

Building RViz in a separate workspace

When developing for RViz, it can be beneficial to build it in a separate workspace.

Note: When building the current ros2 branch from source, the latest ROS 2 release for all dependencies might not be sufficient: it could be necessary to build the ROS 2 master branch. Make sure to have a source build of ROS 2 available (see installation procedure above).

Create a new workspace:

$ mkdir -p ~/rviz2_ws/src
$ cd ~/rviz2_ws/src

Clone these repositories into the source folder:

$ git clone https://github.com/ros2/rviz.git

Then build all the packages with this command:

$ colcon build --merge-install

The --merge-install flag is optional but ensures a cleaner environment which is helpful for development.

More instructions and examples to come.

In addition to the ROS 2 Developer Guide we suggest the following.

Testing

Main rationale here is to create code that can be well tested by avoiding highly coupled components.

Avoid free functions (cannot be mocked).
Create abstract base classes (interface) for dependencies. (This allows for a mock to be completely independent of the actual implementing class.)
Use only the interface in the dependent code.
Specify dependencies as a constructor argument.
Prefer std::unique_ptr for storing the dependency instead of a raw pointer.

Migration

When migrating from ros-visualization/rviz to ros2/rviz, please see the more extensive migration guide.

Plugin Development

Plugins can extend RViz at different extension points:

Displays
Panels
Tools
Frames transformation library
View Controllers

More information on writing plugins can be found in the plugin development guide.

Icon Copyrights

This package contains Public Domain icons downloaded from http://tango.freedesktop.org/releases/.

Upstream Authors (2005-2009):

Ulisse Perusin <[email protected]>
Steven Garrity <[email protected]>
Lapo Calamandrei <[email protected]>
Ryan Collier <[email protected]>
Rodney Dawes <[email protected]>
Andreas Nilsson <[email protected]>
Tuomas Kuosmanen <[email protected]>
Garrett LeSage <[email protected]>
Jakub Steiner <[email protected]>

Other icons and graphics contained in this package are released into the Public Domain as well.

Authors (2012-2017):

David Gossow
Chad Rockey
Kei Okada
Julius Kammerl
Acorn Pooley
Rein Appeldoorn

Copyright notice for all icons and graphics in this package:

Public Domain Dedication

Copyright-Only Dedication (based on United States law) or Public Domain
Certification

The person or persons who have associated work with this document (the
"Dedicator" or "Certifier") hereby either (a) certifies that, to the best
of his knowledge, the work of authorship identified is in the public
domain of the country from which the work is published, or (b)
hereby dedicates whatever copyright the dedicators holds in the work
of authorship identified below (the "Work") to the public domain. A
certifier, moreover, dedicates any copyright interest he may have in
the associated work, and for these purposes, is described as a
"dedicator" below.

A certifier has taken reasonable steps to verify the copyright
status of this work. Certifier recognizes that his good faith efforts
may not shield him from liability if in fact the work certified is not
in the public domain.

Dedicator makes this dedication for the benefit of the public at
large and to the detriment of the Dedicator's heirs and successors.
Dedicator intends this dedication to be an overt act of relinquishment
in perpetuity of all present and future rights under copyright law,
whether vested or contingent, in the Work. Dedicator understands that
such relinquishment of all rights includes the relinquishment of all
rights to enforce (by lawsuit or otherwise) those copyrights in the
Work.

Dedicator recognizes that, once placed in the public domain, the Work
may be freely reproduced, distributed, transmitted, used, modified,
built upon, or otherwise exploited by anyone for any purpose, commercial
or non-commercial, and in any way, including by methods that have not
yet been invented or conceived.

Source: http://creativecommons.org/licenses/publicdomain/

	void
	createScene(Ogre::SceneManager * ogre_scene_manager)
	{
	printf("in RenderWindowImpl::createScene()\n");
	/*
	Example scene
	Derive this class for your own purpose and overwite this function to have a working Ogre widget with
	your own content.
	*/
	ogre_scene_manager->setAmbientLight(Ogre::ColourValue(1.0f, 0.0f, 0.0f));

	Ogre::Entity * sphereMesh = ogre_scene_manager->createEntity("mySphere", Ogre::SceneManager::PT_SPHERE);

	Ogre::SceneNode * childSceneNode = ogre_scene_manager->getRootSceneNode()->createChildSceneNode();

	childSceneNode->attachObject(sphereMesh);

	Ogre::MaterialPtr sphereMaterial = Ogre::MaterialManager::getSingleton().create("SphereMaterial",
	Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);

	sphereMaterial->getTechnique(0)->getPass(0)->setAmbient(0.1f, 0.1f, 0.1f);
	sphereMaterial->getTechnique(0)->getPass(0)->setDiffuse(0.2f, 0.2f, 0.2f, 1.0f);
	sphereMaterial->getTechnique(0)->getPass(0)->setSpecular(0.9f, 0.9f, 0.9f, 1.0f);
	//sphereMaterial->setAmbient(0.2f, 0.2f, 0.5f);
	//sphereMaterial->setSelfIllumination(0.2f, 0.2f, 0.1f);

	sphereMesh->setMaterialName("SphereMaterial");
	childSceneNode->setPosition(Ogre::Vector3(0.0f, 0.0f, 0.0f));
	childSceneNode->setScale(Ogre::Vector3(0.01f, 0.01f, 0.01f)); // Radius, in theory.

	Ogre::Light* light = ogre_scene_manager->createLight("MainLight");
	light->setPosition(20.0f, 80.0f, 50.0f);
	}

	// TODO(wjwwood): replace this with ROS 2 and boost-free version
	// boost::filesystem::path getPath(QString url)
	// {
	// boost::filesystem::path path;

	// if (url.indexOf("package://", 0, Qt::CaseInsensitive) == 0) {
	// QString package_name = url.section('/', 2, 2);
	// QString file_name = url.section('/', 3);
	// path = ros::package::getPath(package_name.toStdString());
	// path = path / file_name.toStdString();
	// } else if (url.indexOf("file://", 0, Qt::CaseInsensitive) == 0) {
	// path = url.section('/', 2).toStdString();
	// } else {
	// ROS_ERROR("Invalid or unsupported URL: '%s'", url.toStdString().c_str() );
	// }

	// return path;
	// }

	// TODO(wjwwood): reenable this, or in the meantime add a placeholder pixmap
	Q_UNUSED(url);
	Q_UNUSED(fill_cache);
	// RVIZ_COMMON_LOG_WARNING_STREAM("did not load pixmap at " << url.toStdString());
	// // if it's in the cache, no need to locate
	// if (QPixmapCache::find(url, &pixmap) ) {
	// return pixmap;
	// }

	// boost::filesystem::path path = getPath(url);

	// // If something goes wrong here, we go on and store the empty pixmap,
	// // so the error won't appear again anytime soon.
	// if (boost::filesystem::exists(path) ) {
	// ROS_DEBUG_NAMED("load_resource", "Loading '%s'", path.string().c_str() );
	// if (!pixmap.load(QString::fromStdString(path.string() ) ) ) {
	// ROS_ERROR("Could not load pixmap '%s'", path.string().c_str() );
	// }
	// }

	// if (fill_cache) {
	// QPixmapCache::insert(url, pixmap);
	// }

	// TODO(wjwwood): reenable this
	Q_UNUSED(url);
	Q_UNUSED(fill_cache);
	// RVIZ_COMMON_LOG_WARNING_STREAM("did not load icon as cursor at " << url.toStdString());
	return QCursor(Qt::ArrowCursor);
	#if 0
	QPixmap icon = loadPixmap(url, fill_cache);
	if (icon.width() == 0 \|\| icon.height() == 0) {
	ROS_ERROR("Could not load pixmap '%s' -- using default cursor instead.",
	url.toStdString().c_str() );
	return getDefaultCursor();
	}
	QString cache_key = url + ".cursor";
	return makeIconCursor(icon, cache_key, fill_cache);
	#endif

	// TODO(wjwwood): reenable this
	Q_UNUSED(icon);
	Q_UNUSED(cache_key);
	Q_UNUSED(fill_cache);
	// RVIZ_COMMON_LOG_WARNING_STREAM("did not make icon into cursor at " << cache_key.toStdString());
	return QCursor(Qt::ArrowCursor);
	#if 0
	// if it's in the cache, no need to locate
	QPixmap cursor_img;
	if (QPixmapCache::find(cache_key, &cursor_img) ) {
	return QCursor(cursor_img, 0, 0);
	}

	QPixmap base_cursor = loadPixmap("package://rviz/icons/cursor.svg", fill_cache);

	const int cursor_size = 32;

	cursor_img = QPixmap(cursor_size, cursor_size);
	cursor_img.fill(QColor(0, 0, 0, 0) );

	// copy base cursor & icon into one image
	QPainter painter(&cursor_img);

	int draw_x = 12;
	int draw_y = 16;

	// if the icon is too large, move it to the left
	if (draw_x + icon.width() > cursor_size) {
	draw_x = cursor_size - icon.width();
	}
	if (draw_y + icon.height() > cursor_size) {
	draw_y = cursor_size - icon.height();
	}

	painter.drawPixmap(0, 0, base_cursor);
	painter.drawPixmap(draw_x, draw_y, icon);

	if (fill_cache) {
	QPixmapCache::insert(cache_key, cursor_img);
	}

	return QCursor(cursor_img, 1, 1);
	#endif

	auto buffer = std::make_shared<tf2_ros::Buffer>();
	// TODO(wjwwood): pass the rviz node so tf2 doesn't create it's own...
	auto tf_listener = std::make_shared<tf2_ros::TransformListener>(*buffer);

	if (!tf) {
	// TODO(wjwwood): reenable this when possible (ros2 has no singleton node),
	// for now just require it to be passed in
	// tf_.reset(new tf2_ros::TransformListener(ros::NodeHandle(), ros::Duration(10 * 60), true));
	throw std::runtime_error("given TransformListener is nullprt");
	} else {
	tf_ = tf;
	}
	buffer_ = buffer;

	// TODO(wjwwood): reenable this when message_filters is ported.
	// #include <tf2_ros/message_filter.h>

	// TODO(wjwwood): figure out how to replace FilgerFailureReason here
	#if 0
	/// Create a description of a transform problem.
	/**
	* \param frame_id The name of the frame with issues.
	* \param stamp The time for which the problem was detected.
	* \param caller_id Dummy parameter, not used.
	* \param reason The reason given by the tf::MessageFilter in its failure callback.
	* \return An error message describing the problem.
	*
	* Once a problem has been detected with a given frame or transform,
	* call this to get an error message describing the problem. */
	std::string
	discoverFailureReason(
	const std::string & frame_id,
	const rclcpp::Time & stamp,
	const std::string & caller_id,
	tf::FilterFailureReason reason);
	#endif

	# TODO(wjwwood): replace this with ament_index
	PRIVATE "-DRVIZ_RENDERING_DEFAULT_RESOURCE_DIRECTORY=\"${CMAKE_CURRENT_SOURCE_DIR}\""

	render_system_gl_plugin_ = new Ogre::GLPlugin();
	ogre_root_->installPlugin(render_system_gl_plugin_);

	// TODO(wjwwood): reenable this feature
	#if 0
	/// Set the path to the html help file.
	/**
	* Default is a file within the rviz_common package.
	*/
	void
	setHelpPath(const QString & help_path);
	#endif

	// TODO(wjwwood): reenable this once we can get package resources
	// package_path_ = ros::package::getPath("rviz");
	// help_path_ = QString::fromStdString((fs::path(
	// package_path_) / "help/help.html").BOOST_FILE_STRING());
	// splash_path_ = QString::fromStdString((fs::path(
	// package_path_) / "images/splash.png").BOOST_FILE_STRING());

	void VisualizationFrame::setHelpPath(const QString & help_path)
	{
	help_path_ = help_path;
	manager_->setHelpPath(help_path_);
	}
	#endif

	// TODO(wjwwood): reenable this when plugin loading is fixed.
	#if 0
	QDockWidget * dock = addPanelByName("Help", "rviz/Help");
	show_help_action_ = dock->toggleViewAction();
	connect(dock, SIGNAL(destroyed(QObject *)), this, SLOT(onHelpDestroyed()));
	#endif

	# TODO(wjwwood): find a way to make this optional or to run without "deploying" the
	# necessary dlls and stuff to the bin folder.
	# see:
	# https://stackoverflow.com/questions/41193584/deploy-all-qt-dependencies-when-building#41199492

	} catch (...) {
	// TODO(wjwwood): what? figure out what this is for... until then log it...
	RVIZ_COMMON_LOG_ERROR("unknown exception in FrameManager::update()");
	sync_time_ = rclcpp::Time::now();

	// TODO(wjwwood): figureout where getLatestCommonTime went, then reenable this
	#if 0
	// if we don't have tf info for the given timestamp, use the latest available
	rclcpp::Time latest_time;
	std::string error_string;
	int error_code;
	error_code = tf_->getLatestCommonTime(fixed_frame_, frame, latest_time, &error_string);

	if (error_code != 0) {
	ROS_ERROR("Error getting latest time from frame '%s' to frame '%s': %s (Error code: %d)",
	frame.c_str(), fixed_frame_.c_str(), error_string.c_str(), error_code);
	return false;
	}

	if (latest_time > sync_time_) {
	time = sync_time_;
	}
	#endif

	// TODO(wjwwood): replace usage of pluginlib_factory
	// #include "./pluginlib_factory.hpp"

	// TODO(wjwwood): make this load a particular tool, until plugin loading is
	// implemented, then restore functionality.

ros2 / rviz Goto Github PK

rviz's Introduction

RViz

Features

Already ported

Not yet ported

New features

Pluggable transformation library

Developer Guide

Build

Building RViz together with ROS 2

Building RViz in a separate workspace

Testing

Migration

Plugin Development

Icon Copyrights

rviz's People

Contributors

Stargazers

Watchers

Forkers

rviz's Issues

Recommend Projects

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