From 97d3c76251f90a8383297b1c33c609c11251c1f5 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 29 Oct 2024 18:57:03 +0900 Subject: [PATCH] feat(rviz): add new plugin to show string stamped Signed-off-by: satoshi-ota --- .../CMakeLists.txt | 26 ++++++++++ .../tier4_string_viewer_rviz_plugin/README.md | 16 ++++++ .../icons/classes/AutowareDateTimePanel.png | Bin 0 -> 561 bytes .../images/select_datetime_plugin.png | Bin 0 -> 66867 bytes .../images/select_panels.png | Bin 0 -> 67237 bytes .../package.xml | 28 ++++++++++ .../plugins/plugin_description.xml | 9 ++++ .../src/string_viewer_panel.cpp | 49 ++++++++++++++++++ .../src/string_viewer_panel.hpp | 46 ++++++++++++++++ 9 files changed, 174 insertions(+) create mode 100644 common/tier4_string_viewer_rviz_plugin/CMakeLists.txt create mode 100644 common/tier4_string_viewer_rviz_plugin/README.md create mode 100644 common/tier4_string_viewer_rviz_plugin/icons/classes/AutowareDateTimePanel.png create mode 100644 common/tier4_string_viewer_rviz_plugin/images/select_datetime_plugin.png create mode 100644 common/tier4_string_viewer_rviz_plugin/images/select_panels.png create mode 100644 common/tier4_string_viewer_rviz_plugin/package.xml create mode 100644 common/tier4_string_viewer_rviz_plugin/plugins/plugin_description.xml create mode 100644 common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.cpp create mode 100644 common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.hpp diff --git a/common/tier4_string_viewer_rviz_plugin/CMakeLists.txt b/common/tier4_string_viewer_rviz_plugin/CMakeLists.txt new file mode 100644 index 000000000..410cddc62 --- /dev/null +++ b/common/tier4_string_viewer_rviz_plugin/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.14) +project(tier4_string_viewer_rviz_plugin) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Qt5 REQUIRED Core Widgets) +set(QT_LIBRARIES Qt5::Widgets) +set(CMAKE_AUTOMOC ON) +set(CMAKE_INCLUDE_CURRENT_DIR ON) +add_definitions(-DQT_NO_KEYWORDS) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/string_viewer_panel.hpp + src/string_viewer_panel.cpp +) +target_link_libraries(${PROJECT_NAME} + ${QT_LIBRARIES} +) +pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) + +ament_auto_package( + INSTALL_TO_SHARE + icons + plugins +) diff --git a/common/tier4_string_viewer_rviz_plugin/README.md b/common/tier4_string_viewer_rviz_plugin/README.md new file mode 100644 index 000000000..b483155b3 --- /dev/null +++ b/common/tier4_string_viewer_rviz_plugin/README.md @@ -0,0 +1,16 @@ +# tier4_datetime_rviz_plugin + +## Purpose + +This plugin displays the ROS Time and Wall Time in rviz. + +## Assumptions / Known limits + +TBD. + +## Usage + +1. Start rviz and select panels/Add new panel. + ![select_panel](./images/select_panels.png) +2. Select tier4_datetime_rviz_plugin/AutowareDateTimePanel and press OK. + ![select_datetime_plugin](./images/select_datetime_plugin.png) diff --git a/common/tier4_string_viewer_rviz_plugin/icons/classes/AutowareDateTimePanel.png b/common/tier4_string_viewer_rviz_plugin/icons/classes/AutowareDateTimePanel.png new file mode 100644 index 0000000000000000000000000000000000000000..9431c2d4223632e7cf0c3d2c6a6203d8ffbf0af1 GIT binary patch literal 561 zcmV-10?z%3P)Q!bb9uh;93Knc(e6K`;VPnKo9Hw@!?n_y%9 z3Y_}=ezMst>2#V%Bm%&6I;Gd^VVWkkZ3FzUEbFyl7}tJ)P32Qv*D06FM5EEYvawi< zSS&^+lc83tu~;l#>biagyi=Q=e+B{ptx~D%nUzwA$X>F^WJ0xC#kOq+c&2Rzre(9) zqsliCjYi32G5|iHpaD66R4R3=*(04!dpFE!z(Zg=u)E-CMdXp+3m*3Bp_JM?ALv8_ z#sKsA{KzaKM+;y!n|aB{8gL2F?RM|nf~OUcOU-rN3&1f=lgVUqt9d*g({8r`9H8Or z_xpd6$>amqb)OFg0}_b@;c)oB=31@BYPAA5uh;8ed;sxy{3;j>zF4o{by5`wgVfOL$4NVjxJ z*SWUO`+hn9b*!zy_`qe$bDoPIs@u=~zu&@Z_<)qcHu+E!fVVx_%xdhLA zKl6AAe_%UG%4^`j!wbjsHT;{(Nk+>_-PYX6)yTmN%fiOi+U$;_iG!J$jiaTl)B1%5 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tier4_debug_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + + diff --git a/common/tier4_string_viewer_rviz_plugin/plugins/plugin_description.xml b/common/tier4_string_viewer_rviz_plugin/plugins/plugin_description.xml new file mode 100644 index 000000000..61be94ce2 --- /dev/null +++ b/common/tier4_string_viewer_rviz_plugin/plugins/plugin_description.xml @@ -0,0 +1,9 @@ + + + + StringViewerPanel + + + diff --git a/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.cpp b/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.cpp new file mode 100644 index 000000000..12ef68ab1 --- /dev/null +++ b/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.cpp @@ -0,0 +1,49 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "string_viewer_panel.hpp" + +#include +#include +#include + +#include + +StringViewerPanel::StringViewerPanel(QWidget * parent) : rviz_common::Panel(parent) +{ + contents_ = new QLabel; + + auto * layout = new QHBoxLayout(this); + layout->addWidget(contents_); + setLayout(layout); +} + +void StringViewerPanel::onInitialize() +{ + raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); + + sub_string_ = raw_node_->create_subscription( + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/" + "internal_state", + rclcpp::QoS{1}, std::bind(&StringViewerPanel::on_string, this, std::placeholders::_1)); +} + +void StringViewerPanel::on_string(const tier4_debug_msgs::msg::StringStamped::ConstSharedPtr msg) +{ + contents_->setText(msg->data.c_str()); + contents_->setWordWrap(true); +} + +#include +PLUGINLIB_EXPORT_CLASS(StringViewerPanel, rviz_common::Panel) diff --git a/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.hpp b/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.hpp new file mode 100644 index 000000000..f56956ebc --- /dev/null +++ b/common/tier4_string_viewer_rviz_plugin/src/string_viewer_panel.hpp @@ -0,0 +1,46 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef STRING_VIEWER_PANEL_HPP_ +#define STRING_VIEWER_PANEL_HPP_ + +#include +#include +#include +#include + +#include + +class QLineEdit; + +class StringViewerPanel : public rviz_common::Panel +{ + Q_OBJECT + +public: + explicit StringViewerPanel(QWidget * parent = nullptr); + + void onInitialize() override; + +private: + void on_string(const tier4_debug_msgs::msg::StringStamped::ConstSharedPtr msg); + + QLabel * contents_; + + rclcpp::Node::SharedPtr raw_node_; + + rclcpp::Subscription::SharedPtr sub_string_; +}; + +#endif // STRING_VIEWER_PANEL_HPP_