getting robot model

Author: jontromanab

base_placement_plugin/include/base_placement_plugin/add_robot_base.h

@@ -28,6 +28,7 @@
 #include <rviz/properties/string_property.h>
 #include <base_placement_plugin/widgets/base_placement_widget.h>
 #include <base_placement_plugin/place_base.h>
+#include <base_placement_plugin/create_marker.h>
 
 #include <QWidget>
 #include <QCursor>
@@ -55,7 +56,7 @@ class AddRobotBase : public QObject
 {
     Q_OBJECT;
   public:
-    AddRobotBase(QWidget* parent = 0);
+    AddRobotBase(QWidget* parent, std::string group_name);
     virtual ~AddRobotBase();
     void init();
 
@@ -77,10 +78,10 @@ class AddRobotBase : public QObject
     void getWaypoints(std::vector<geometry_msgs::Pose>& waypoints);
 
 
+
     public Q_SLOTS:
     void parseWayPoints();
     void clearAllPointsRviz();
-
     void getRobotModelFrame_slot(const tf::Transform end_effector);
 
 protected:
@@ -113,6 +114,8 @@ class AddRobotBase : public QObject
       std::string target_frame_;
 
       visualization_msgs::MarkerArray robot_markers_;
+      CreateMarker* mark_;
+      std::string group_name_;
 
 };
 

base_placement_plugin/include/base_placement_plugin/place_base.h

@@ -121,6 +121,9 @@ public Q_SLOTS:
   //! Send the output types to the GUI
   void sendGroupType_signal(std::vector< std::string > group_names);
 
+  //! Send the selected groupd
+  void sendSelectedGroup_signal(std::string group_name);
+
 
 
 protected:
@@ -211,7 +214,7 @@ public Q_SLOTS:
   //show unreachable models
   bool show_ureach_models_;
 
-
+  //Pointer for robot marker
   CreateMarker* mark_;
 };
 

base_placement_plugin/include/base_placement_plugin/widgets/base_placement_widget.h

@@ -87,6 +87,7 @@ class BasePlacementWidget : public QWidget
   //! Bool value to show/unshow map
   bool show_union_map_;
   bool show_umodels_;
+  std::string group_name_;
 
 private:
   QStringList pointList;
@@ -152,6 +153,8 @@ protected Q_SLOTS:
   void getOutputType(std::vector< std::string > op_types);
   //! Set the ouput type name in the ComboBox
   void getRobotGroups(std::vector< std::string > groups);
+  //! Get selected group from place_base
+  void getSelectedGroup(std::string group_name);
 
   void selectedMethod(int index);
   void selectedOuputType(int op_index);
@@ -193,6 +196,7 @@ protected Q_SLOTS:
   //!Sending baseposes selected by user
   void SendBasePoses(std::vector<geometry_msgs::Pose>);
 
+
 };
 }
 

base_placement_plugin/src/add_robot_base.cpp

@@ -1,11 +1,12 @@
 #include<base_placement_plugin/add_robot_base.h>
 #include <Eigen/Eigen>
 #include <eigen_conversions/eigen_msg.h>
-#include <base_placement_plugin/create_marker.h>
 
 
-AddRobotBase::AddRobotBase(QWidget *parent)
+
+AddRobotBase::AddRobotBase(QWidget *parent , std::string group_name)
 {
+  group_name_ = group_name;
   init();
 }
 
@@ -62,9 +63,10 @@ void AddRobotBase::init()
   menu_handler.setCheckState(menu_handler.insert("Fine adjustment", boost::bind(&AddRobotBase::processFeedback, this, _1)),
         interactive_markers::MenuHandler::UNCHECKED);
 
-  CreateMarker mark("arm");
-  //visualization_msgs::MarkerArray markArr;
-  robot_markers_ = mark.getDefaultMarkers();
+
+  mark_ = new CreateMarker(group_name_);
+  robot_markers_ = mark_->getDefaultMarkers();
+
 
 
   //tf::Vector3 vec(-1, 0, 0);
@@ -77,16 +79,12 @@ void AddRobotBase::init()
 
   box_pos = trns;
   target_frame_.assign("base_link");
-  ROS_INFO_STREAM("The robot model frame is_+: " << target_frame_);
+  ROS_INFO_STREAM("The robot model frame is: " << target_frame_);
   makeInteractiveMarker();
   server->applyChanges();
   ROS_INFO("User base placement interactive marker started.");
 }
 
-
-
-
-
 void AddRobotBase::processFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 {
   switch (feedback->event_type)

base_placement_plugin/src/add_way_point.cpp

@@ -85,6 +85,8 @@ void AddWayPoint::onInitialize()
           SLOT(getOutputType(std::vector< std::string >)));
   connect(place_base, SIGNAL(sendGroupType_signal(std::vector< std::string >)), widget_,
           SLOT(getRobotGroups(std::vector< std::string >)));
+  connect(place_base, SIGNAL(sendSelectedGroup_signal(std::string)), widget_,
+          SLOT(getSelectedGroup(std::string)));
 
 
 

base_placement_plugin/src/place_base.cpp

@@ -102,6 +102,7 @@ void PlaceBase::getSelectedRobotGroup(int group_index)
     ROS_ERROR_STREAM("Is your selected group is a manipulator?? ");
     delete mark_;
   }
+  Q_EMIT sendSelectedGroup_signal(selected_group_);
 }
 
 void PlaceBase::getSelectedMethod(int index)

base_placement_plugin/src/widgets/base_placement_widget.cpp

@@ -96,6 +96,11 @@ void BasePlacementWidget::showUreachModels()
   Q_EMIT SendShowUmodel(show_umodels_);
 }
 
+void BasePlacementWidget::getSelectedGroup(std::string group_name)
+{
+  group_name_ = group_name;
+}
+
 
 void BasePlacementWidget::showUnionMapFromUI()
 {
@@ -134,25 +139,25 @@ void BasePlacementWidget::getBasePlacePlanMethod(std::vector< std::string > meth
 
 void BasePlacementWidget::selectedMethod(int index)
 {
+  Q_EMIT SendSelectedMethod(index);
   if(index ==4)
   {
-    ROS_INFO("AHA.The user intuition method is selected. Let's Play");
-    add_robot = new AddRobotBase();
-
-    //add_robot to widget
-    connect(this, SIGNAL(parseWayPointBtn_signal()), add_robot, SLOT(parseWayPoints()));
-    connect(add_robot, SIGNAL(baseWayPoints_signal(std::vector<geometry_msgs::Pose>)), this, SLOT(getWaypoints(std::vector<geometry_msgs::Pose>)));
-    connect(this, SIGNAL(clearAllPoints_signal()), add_robot, SLOT(clearAllPointsRviz()));
+    if(group_name_.size()>0)
+    {
+      add_robot = new AddRobotBase(0 , group_name_);
+      ROS_INFO("AHA.The user intuition method is selected. Let's Play");
+      //add_robot to widget
+      connect(this, SIGNAL(parseWayPointBtn_signal()), add_robot, SLOT(parseWayPoints()));
+      connect(add_robot, SIGNAL(baseWayPoints_signal(std::vector<geometry_msgs::Pose>)), this, SLOT(getWaypoints(std::vector<geometry_msgs::Pose>)));
+      connect(this, SIGNAL(clearAllPoints_signal()), add_robot, SLOT(clearAllPointsRviz()));
+    }
   }
   else
   {
     if(!add_robot == 0)
       delete add_robot;
     add_robot = 0;
   }
-
-
-  Q_EMIT SendSelectedMethod(index);
 }
 
 void BasePlacementWidget::getWaypoints(std::vector<geometry_msgs::Pose> base_poses)