Merge branch 'noetic-devel' into tf2-migration

Author: rhaschke

src/rviz/default_plugin/depth_cloud_display.cpp

@@ -403,13 +403,13 @@ void DepthCloudDisplay::reset()
   setStatus( StatusProperty::Ok, "Message", "Ok" );
 }
 
-void DepthCloudDisplay::processMessage(sensor_msgs::ImageConstPtr depth_msg)
+void DepthCloudDisplay::processMessage(const sensor_msgs::ImageConstPtr& depth_msg)
 {
-  processMessage(std::move(depth_msg), sensor_msgs::ImageConstPtr());
+  processMessage(depth_msg, sensor_msgs::ImageConstPtr());
 }
 
-void DepthCloudDisplay::processMessage(sensor_msgs::ImageConstPtr depth_msg,
-                                       sensor_msgs::ImageConstPtr rgb_msg)
+void DepthCloudDisplay::processMessage(const sensor_msgs::ImageConstPtr& depth_msg,
+                                       const sensor_msgs::ImageConstPtr& rgb_msg)
 {
   if (context_->getFrameManager()->getPause() )
   {

src/rviz/default_plugin/depth_cloud_display.h

@@ -152,8 +152,9 @@ protected Q_SLOTS:
 
   typedef std::vector<rviz::PointCloud::Point> V_Point;
 
-  virtual void processMessage(sensor_msgs::Image::ConstPtr msg);
-  virtual void processMessage(sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImageConstPtr rgb_msg);
+  virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg);
+  virtual void processMessage(const sensor_msgs::ImageConstPtr& depth_msg,
+                              const sensor_msgs::ImageConstPtr& rgb_msg);
   void caminfoCallback( sensor_msgs::CameraInfo::ConstPtr msg );
 
   // overrides from Display

src/rviz/default_plugin/tf_display.cpp

@@ -53,7 +53,7 @@ namespace rviz
 class FrameSelectionHandler: public SelectionHandler
 {
 public:
-  FrameSelectionHandler( FrameInfo* frame, TFDisplay* display, DisplayContext* context );
+  FrameSelectionHandler( FrameInfo* frame, DisplayContext* context );
   ~FrameSelectionHandler() override {}
 
   void createProperties( const Picked& obj, Property* parent_property ) override;
@@ -67,18 +67,16 @@ class FrameSelectionHandler: public SelectionHandler
 
 private:
   FrameInfo* frame_;
-  TFDisplay* display_;
   Property* category_property_;
   BoolProperty* enabled_property_;
   StringProperty* parent_property_;
   VectorProperty* position_property_;
   QuaternionProperty* orientation_property_;
 };
 
-FrameSelectionHandler::FrameSelectionHandler(FrameInfo* frame, TFDisplay* display, DisplayContext* context )
+FrameSelectionHandler::FrameSelectionHandler(FrameInfo* frame, DisplayContext* context )
   : SelectionHandler( context )
   , frame_( frame )
-  , display_( display )
   , category_property_( nullptr )
   , enabled_property_( nullptr )
   , parent_property_( nullptr )
@@ -416,7 +414,7 @@ FrameInfo* TFDisplay::createFrame(const std::string& frame)
   info->last_update_ = ros::Time::now();
   info->axes_ = new Axes( scene_manager_, axes_node_, 0.2, 0.02 );
   info->axes_->getSceneNode()->setVisible( show_axes_property_->getBool() );
-  info->selection_handler_.reset( new FrameSelectionHandler( info, this, context_ ));
+  info->selection_handler_.reset( new FrameSelectionHandler( info, context_ ));
   info->selection_handler_->addTrackedObjects( info->axes_->getSceneNode() );
 
   info->name_text_ = new MovableText( frame, "Liberation Sans", 0.1 );

src/rviz/panel_dock_widget.cpp

@@ -141,7 +141,7 @@ void PanelDockWidget::save( Config config )
   config.mapSetValue( "collapsed", collapsed_ );
 }
 
-void PanelDockWidget::load( Config config )
+void PanelDockWidget::load( const Config& config )
 {
   config.mapGetBool( "collapsed", &collapsed_ );
 }

src/rviz/panel_dock_widget.h

@@ -57,7 +57,7 @@ Q_OBJECT
   void setIcon( const QIcon& icon );
 
   virtual void save( Config config );
-  virtual void load( Config config );
+  virtual void load( const Config& config );
 
   /** @brief Override setVisible to respect the visibility override, */
   virtual void setVisible( bool visible );

src/test/config_sample.py

@@ -2,13 +2,12 @@
 
 import roslib; roslib.load_manifest('rviz')
 import sys
-#setattr(sys, 'SELECT_QT_BINDING', 'pyside') # Shiboken
-setattr(sys, 'SELECT_QT_BINDING', 'pyqt') # SIP
-import python_qt_binding.QtBindingHelper # @UnusedImport
+setattr(sys, 'SELECT_QT_BINDING', 'pyqt')
+from python_qt_binding import QT_BINDING
 
 from QtGui import *
 from QtCore import *
-import rviz
+from rviz import bindings as rviz
 
 c = rviz.Config()
 c.mapSetValue( "foo", 17 )

src/test/python_sample.py

@@ -12,7 +12,8 @@
 from python_qt_binding import QT_BINDING
 from python_qt_binding.QtGui import *
 from python_qt_binding.QtCore import *
-import rviz
+from python_qt_binding.QtWidgets import *
+from rviz import bindings as rviz
 
 if QT_BINDING == 'pyside':
     print "Using PySide and shiboken for rviz python bindings."

src/test/send_covariance_msgs.py

@@ -31,28 +31,27 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import roslib; roslib.load_manifest( 'rviz_plugin_covariance' )
 from geometry_msgs.msg import PoseWithCovarianceStamped, PoseStamped
 import rospy
 from math import cos, sin, pi
-import tf
-import tf_conversions
+import tf2_ros
+import tf_conversions as tf
+from geometry_msgs.msg import TransformStamped, Vector3
 
 publisher_cov = rospy.Publisher( 'pose_with_cov', PoseWithCovarianceStamped, queue_size=5 )
 publisher_pose = rospy.Publisher( 'pose', PoseStamped, queue_size=5 )
 
 rospy.init_node( 'test_covariance' )
 
-br = tf.TransformBroadcaster()
+br = tf2_ros.TransformBroadcaster()
 rate = rospy.Rate(100)
 # radius = 1
 angle = 0
 # r = 0
 # p = 0
 # y = 0
 
-linear_deviation = 0.5;
-
+linear_deviation = 0.5
 
 while not rospy.is_shutdown():
     stamp = rospy.Time.now()
@@ -91,21 +90,22 @@
     publisher_cov.publish( pose_with_cov )
     publisher_pose.publish( pose )
 
-    # br.sendTransform((radius * cos(angle), radius * sin(angle), 0),
-    #                  tf.transformations.quaternion_from_euler(r, p, y),
-    #                  rospy.Time.now(),
-    #                  "base_link",
-    #                  "map")
-    pos, ori = pose_with_cov.pose.pose.position, pose_with_cov.pose.pose.orientation
-    br.sendTransform((pos.x, pos.y, pos.z),
-                     (ori.x, ori.y, ori.z, ori.w),
-                     stamp,
-                     "pose",
-                     "base_link")
+    t = TransformStamped()
+    t.header.frame_id = 'base_link'
+    t.header.stamp = stamp
+    t.child_frame_id = 'pose'
+
+    if 0:
+        t.transform.translation = Vector3(radius * cos(angle), radius * sin(angle), 0)
+        t.transform.rotation = tf.transformations.quaternion_from_euler(r, p, y)
+        br.sendTransform(t)
+    else:
+        t.transform.translation = pose_with_cov.pose.pose.position
+        t.transform.rotation = pose_with_cov.pose.pose.orientation
+        br.sendTransform(t)
 
     angle += .0005
     # r = angle
     # p = angle
     # y = angle
     rate.sleep()
-