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feat: add drivable area visualizer (autowarefoundation#779) (#193)
* add drivable area visualizer * add license * modify pointed out in pre-commit * modify pointed out in pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
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199 changes: 199 additions & 0 deletions
199
common/tier4_planning_rviz_plugin/include/drivable_area/display.hpp
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| // Copyright 2021 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. | ||
| /* | ||
| * Copyright (c) 2012, Willow Garage, Inc. | ||
| * Copyright (c) 2018, Bosch Software Innovations GmbH. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef DRIVABLE_AREA__DISPLAY_HPP_ | ||
| #define DRIVABLE_AREA__DISPLAY_HPP_ | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| #ifndef Q_MOC_RUN | ||
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| #include <OgreMaterial.h> | ||
| #include <OgreSharedPtr.h> | ||
| #include <OgreTexture.h> | ||
| #include <OgreVector3.h> | ||
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| #endif // Q_MOC_RUN | ||
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| #include "rclcpp/qos.hpp" | ||
| #include "rclcpp/time.hpp" | ||
| #include "rviz_common/message_filter_display.hpp" | ||
| #include "rviz_default_plugins/displays/map/swatch.hpp" | ||
| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| #include "autoware_auto_planning_msgs/msg/path.hpp" | ||
| #include "map_msgs/msg/occupancy_grid_update.hpp" | ||
| #include "nav_msgs/msg/map_meta_data.hpp" | ||
| #include "nav_msgs/msg/occupancy_grid.hpp" | ||
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| namespace Ogre | ||
| { | ||
| class ManualObject; | ||
| } | ||
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| namespace rviz_common | ||
| { | ||
| namespace properties | ||
| { | ||
| class EnumProperty; | ||
| class FloatProperty; | ||
| class IntProperty; | ||
| class Property; | ||
| class QuaternionProperty; | ||
| class VectorProperty; | ||
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| } // namespace properties | ||
| } // namespace rviz_common | ||
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| namespace rviz_plugins | ||
| { | ||
| class AlphaSetter; | ||
| using rviz_default_plugins::displays::Swatch; | ||
|
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| /** | ||
| * \class AutowareDrivableAreaDisplay | ||
| * \brief Displays a map along the XY plane. | ||
| */ | ||
| class RVIZ_DEFAULT_PLUGINS_PUBLIC AutowareDrivableAreaDisplay | ||
| : public rviz_common::MessageFilterDisplay<autoware_auto_planning_msgs::msg::Path> | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call | ||
| // initialize() instead | ||
| explicit AutowareDrivableAreaDisplay(rviz_common::DisplayContext * context); | ||
| AutowareDrivableAreaDisplay(); | ||
| ~AutowareDrivableAreaDisplay() override; | ||
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| void onInitialize() override; | ||
| void fixedFrameChanged() override; | ||
| void reset() override; | ||
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| float getResolution() { return resolution_; } | ||
| size_t getWidth() { return width_; } | ||
| size_t getHeight() { return height_; } | ||
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| /** @brief Copy msg into current_map_ and call showMap(). */ | ||
| void processMessage(autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg) override; | ||
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| public Q_SLOTS: | ||
| void showMap(); | ||
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| Q_SIGNALS: | ||
| /** @brief Emitted when a new map is received*/ | ||
| void mapUpdated(); | ||
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| protected Q_SLOTS: | ||
| void updateAlpha(); | ||
| void updateDrawUnder() const; | ||
| void updatePalette(); | ||
| /** @brief Show current_map_ in the scene. */ | ||
| void transformMap(); | ||
| void updateMapUpdateTopic(); | ||
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| protected: | ||
| void updateTopic() override; | ||
| void update(float wall_dt, float ros_dt) override; | ||
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| void subscribe() override; | ||
| void unsubscribe() override; | ||
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| void onEnable() override; | ||
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| /** @brief Copy update's data into current_map_ and call showMap(). */ | ||
| void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update); | ||
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| bool updateDataOutOfBounds(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const; | ||
| void updateMapDataInMemory(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update); | ||
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| void clear(); | ||
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| void subscribeToUpdateTopic(); | ||
| void unsubscribeToUpdateTopic(); | ||
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| void showValidMap(); | ||
| void resetSwatchesIfNecessary(size_t width, size_t height, float resolution); | ||
| void createSwatches(); | ||
| void doubleSwatchNumber( | ||
| size_t & swatch_width, size_t & swatch_height, int & number_swatches) const; | ||
| void tryCreateSwatches( | ||
| size_t width, size_t height, float resolution, size_t swatch_width, size_t swatch_height, | ||
| int number_swatches); | ||
| size_t getEffectiveDimension(size_t map_dimension, size_t swatch_dimension, size_t position); | ||
| void updateSwatches() const; | ||
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| std::vector<std::shared_ptr<Swatch>> swatches_; | ||
| std::vector<Ogre::TexturePtr> palette_textures_; | ||
| std::vector<bool> color_scheme_transparency_; | ||
| bool loaded_; | ||
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| float resolution_; | ||
| size_t width_; | ||
| size_t height_; | ||
| std::string frame_; | ||
| nav_msgs::msg::OccupancyGrid current_map_; | ||
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| rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_subscription_; | ||
| rclcpp::QoS update_profile_; | ||
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| rviz_common::properties::RosTopicProperty * update_topic_property_; | ||
| rviz_common::properties::QosProfileProperty * update_profile_property_; | ||
| rviz_common::properties::FloatProperty * resolution_property_; | ||
| rviz_common::properties::IntProperty * width_property_; | ||
| rviz_common::properties::IntProperty * height_property_; | ||
| rviz_common::properties::VectorProperty * position_property_; | ||
| rviz_common::properties::QuaternionProperty * orientation_property_; | ||
| rviz_common::properties::FloatProperty * alpha_property_; | ||
| rviz_common::properties::Property * draw_under_property_; | ||
| rviz_common::properties::EnumProperty * color_scheme_property_; | ||
| rviz_common::properties::BoolProperty * transform_timestamp_property_; | ||
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| uint32_t update_messages_received_; | ||
| }; | ||
|
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| } // namespace rviz_plugins | ||
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| #endif // DRIVABLE_AREA__DISPLAY_HPP_ |
13 changes: 9 additions & 4 deletions
13
common/tier4_planning_rviz_plugin/plugins/plugin_description.xml
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