README.md

qt_rviz_panel

Instructions

1) Adding the required files into the rmf_visualization_rviz2_plugin/src folder found in the rmf folder.

The following files have to be copied into the rmf workspace

1. ParseGraph.cpp
2. ParseGraph.hpp
3. RmfPanel.cpp
4. RmfPanel.hpp

2) Modify StandardNames.hpp found in rmf_visualization_rviz2_plugin/src folder, to cater to the newly added files.

Add the following lines into the StandardNames.hpp

const std::string LoopRequestServiceName = "submit_task";
const std::string FleetStateTopicName = "fleet_states";

3) Modify rmf_visualization_rviz2_plugin's CMakeLists to include the new files.

Add the following lines into the CMakeLists under add_library section, line 38

src/RmfPanel.cpp
src/ParseGraph.cpp

Additionally,

1. add rmf_task_msgs & rmf_fleet_msgs is a required package at line 35.
2. add ${rmf_task_msgs_LIBRARIES} & ${rmf_fleet_msgs_LIBRARIES}, under target_link_libraries
3. add ${rmf_task_msgs_INCLUDE_DIRS} & ${rmf_fleet_msgs_INCLUDE_DIRS}, under target_include_directories

4) Modify plugin_description.xml, found in rmf_visualization_rviz2_plugin folder

Add the following lines

<class name="rmf_visualization_rviz2_plugins/RmfPanel"
    type="rmf_visualization_rviz2_plugins::RmfPanel"
    base_class_type="rviz_common::Panel">
  <description>
    A panel widget allowing users to send amr task requests and visualize states.
  </description>
</class>

5) Ensure that rmf_visualization_rviz2_plugin package.xml has rmf_task_msgs & rmf_fleet_msgsas a dependent

6) Modify your .rviz file of your deployment

a) Under `Panel` section , add the following lines 
```
- Class: rmf_visualization_rviz2_plugins/RmfPanel
	Name: RmfPanel
	```
b) Under 'Window Geometry', add the following lines
```
RmfPanel:
	collapsed: false
```