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Fix continuous map updates #30

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merged 1 commit into from
Feb 29, 2016
Merged

Fix continuous map updates #30

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17 changes: 11 additions & 6 deletions build/ros2d.js
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
*/

var ROS2D = ROS2D || {
REVISION : '0.7.0'
REVISION : '0.8.0-SNAPSHOT'
};

// convert the given global Stage coordinates to ROS coordinates
Expand Down Expand Up @@ -1103,13 +1103,13 @@ ROS2D.Viewer.prototype.addObject = function(object) {
* @param height - the height to scale to in meters
*/
ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
// store the actual offset in the ROS coordinate system
var tmpY = this.height - (this.scene.y * this.scene.scaleY);
// restore to values before shifting, if ocurred
this.scene.x = typeof this.scene.x_prev_shit !== 'undefined' ? this.scene.x_prev_shit : this.scene.x;
this.scene.y = typeof this.scene.y_prev_shift !== 'undefined' ? this.scene.y_prev_shift : this.scene.y;

// save scene scaling
this.scene.scaleX = this.width / width;
this.scene.scaleY = this.height / height;
// reset the offset
this.scene.x = (this.scene.x * this.scene.scaleX);
this.scene.y -= (tmpY * this.scene.scaleY) - tmpY;
};

/**
Expand All @@ -1120,6 +1120,11 @@ ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
* @param y - the amount to shift by in the y direction in meters
*/
ROS2D.Viewer.prototype.shift = function(x, y) {
// save current offset
this.scene.x_prev_shit = this.scene.x;
this.scene.y_prev_shift = this.scene.y;

// shift scene by scaling the desired offset
this.scene.x -= (x * this.scene.scaleX);
this.scene.y += (y * this.scene.scaleY);
};
Expand Down
2 changes: 1 addition & 1 deletion build/ros2d.min.js
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56 changes: 56 additions & 0 deletions examples/continuous.html
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Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script src="http://cdn.robotwebtools.org/EaselJS/current/easeljs.js"></script>
<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script src="../build/ros2d.js"></script>

<script>
/**
* Setup all visualization elements when the page is loaded.
*/
function init() {
// Connect to ROS.
var ros = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});

// Create the main viewer.
var viewer = new ROS2D.Viewer({
divID : 'map',
width : 308,
height : 250
});

// Setup the map client.
var gridClient = new ROS2D.OccupancyGridClient({
ros : ros,
rootObject : viewer.scene,
// Use this property in case of continuous updates
continuous: true
});
// Scale the canvas to fit to the map
gridClient.on('change', function() {
viewer.scaleToDimensions(gridClient.currentGrid.width, gridClient.currentGrid.height);
viewer.shift(gridClient.currentGrid.pose.position.x, gridClient.currentGrid.pose.position.y);
});
}
</script>
</head>

<body onload="init()">
<h1>Continuous Map Example</h1>
<p>
Use any method to publish continuous updates to topic /map and use this page to visualize updates. Follow these commands:
</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>(method of choice to publish to /map)</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
</ol>
<div id="map"></div>
</body>
</html>
15 changes: 10 additions & 5 deletions src/visualization/Viewer.js
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Original file line number Diff line number Diff line change
Expand Up @@ -56,13 +56,13 @@ ROS2D.Viewer.prototype.addObject = function(object) {
* @param height - the height to scale to in meters
*/
ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
// store the actual offset in the ROS coordinate system
var tmpY = this.height - (this.scene.y * this.scene.scaleY);
// restore to values before shifting, if ocurred
this.scene.x = typeof this.scene.x_prev_shit !== 'undefined' ? this.scene.x_prev_shit : this.scene.x;
this.scene.y = typeof this.scene.y_prev_shift !== 'undefined' ? this.scene.y_prev_shift : this.scene.y;

// save scene scaling
this.scene.scaleX = this.width / width;
this.scene.scaleY = this.height / height;
// reset the offset
this.scene.x = (this.scene.x * this.scene.scaleX);
this.scene.y -= (tmpY * this.scene.scaleY) - tmpY;
};

/**
Expand All @@ -73,6 +73,11 @@ ROS2D.Viewer.prototype.scaleToDimensions = function(width, height) {
* @param y - the amount to shift by in the y direction in meters
*/
ROS2D.Viewer.prototype.shift = function(x, y) {
// save current offset
this.scene.x_prev_shit = this.scene.x;
this.scene.y_prev_shift = this.scene.y;

// shift scene by scaling the desired offset
this.scene.x -= (x * this.scene.scaleX);
this.scene.y += (y * this.scene.scaleY);
};