Migrate Axes Display (#429)

* Move axes display * Make display compile and fix linters * Hide axis when transform in error * Minor refactoring of axes - Shapes are now unique pointers - When accessing them, return a reference only (no need for anything else * Add visual test * Update README * Fix indentation in plugins_description * Use getFrameStd instead of getStdString To ensure we get a frame ID in the case the property is set to the fixed frame. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · Oct 1, 2019 · a2be171 · a2be171
1 parent 5164760
commit a2be171
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Showing 13 changed files with 384 additions and 199 deletions.
diff --git a/README.md b/README.md
@@ -14,14 +14,16 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 
 | Displays              | Tools         | View Controller       | Panels          |
 | --------------------- | ------------- | --------------------- | --------------- |
-| Camera                | Move Camera   | Orbit                 | Displays        |
-| Fluid Pressure        | Focus Camera  | XY Orbit              | Help            |
-| Grid                  | Measure       | First Person          | Selections      |
-| Grid Cells            | Select        | Third Person Follower | Tool Properties | 
-| Illuminance           | 2D Goal Pose  | Top Down Orthographic | Views           |
-| Image                 | Publish Point |
-| Laser Scan            | Initial Pose  |
-| Map                   | Interact      |
+| Axes                  | Move Camera   | Orbit                 | Displays        |
+| Camera                | Focus Camera  | XY Orbit              | Help            | 
+| Fluid Pressure        | Measure       | First Person          | Selections      |
+| Grid                  | Select        | Third Person Follower | Tool Properties | 
+| Grid Cells            | 2D Nav Goal   | Top Down Orthographic | Views           |
+| Illuminance           | Publish Point |
+| Image                 | Initial Pose  |
+| Interactive Marker    | Interact      |
+| Laser Scan            |
+| Map                   |
 | Marker                |
 | Marker Array          |
 | Odometry              |
@@ -41,19 +43,16 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 ### Not yet ported
 These features have not been ported to `ros2/rviz` yet.
 
-| Displays             | Tools        | Panels |
-| -------------------- | ------------ | ------ |
-| Axes                 |              | Time   |
-| DepthCloud           |
+| Displays             | Panels |
+| -------------------- | ------ |
+| DepthCloud           | Time   |
 | Effort               |
-| Interactive Marker   |
-| Oculus               |
 | Pose With Covariance |
 
 Other features:
 - Filtering of Topic lists by topic type
-- Message filters
 - Image transport features
+- Stereo
 
 In case you wished to see those features in RViz for ROS 2, feel free to add a pull request.
 Make sure to read the developer guide below and the migration guide.

diff --git a/rviz/src/rviz/default_plugin/axes_display.cpp b/rviz/src/rviz/default_plugin/axes_display.cpp
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
@@ -76,6 +76,7 @@ find_package(visualization_msgs REQUIRED)
 
 # These need to be added in the add_library() call so AUTOMOC detects them.
 set(rviz_default_plugins_headers_to_moc
+  include/rviz_default_plugins/displays/axes/axes_display.hpp
   include/rviz_default_plugins/displays/camera/camera_display.hpp
   include/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.hpp
   include/rviz_default_plugins/displays/grid/grid_display.hpp
@@ -136,6 +137,7 @@ set(rviz_default_plugins_headers_to_moc
 )
 
 set(rviz_default_plugins_source_files
+  src/rviz_default_plugins/displays/axes/axes_display.cpp
   src/rviz_default_plugins/displays/camera/camera_display.cpp
   src/rviz_default_plugins/displays/grid/grid_display.cpp
   src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp
@@ -632,6 +634,20 @@ if(BUILD_TESTING)
     target_link_libraries(transformer_guard_test ${TEST_LINK_LIBRARIES})
   endif()
 
+  ament_add_gtest(axes_display_visual_test
+    test/rviz_default_plugins/displays/axes/axes_display_visual_test.cpp
+    test/rviz_default_plugins/page_objects/axes_display_page_object.cpp
+    ${SKIP_VISUAL_TESTS}
+    TIMEOUT 180)
+  if(TARGET axes_display_visual_test)
+    target_include_directories(axes_display_visual_test PUBLIC
+      ${TEST_INCLUDE_DIRS}
+      ${rviz_visual_testing_framework_INCLUDE_DIRS})
+    target_link_libraries(axes_display_visual_test
+      ${TEST_LINK_LIBRARIES}
+      rviz_visual_testing_framework::rviz_visual_testing_framework)
+  endif()
+
   ament_add_gtest(camera_display_visual_test
     test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
     test/rviz_default_plugins/publishers/camera_info_publisher.hpp

diff --git a/rviz/src/rviz/default_plugin/axes_display.h → ...lt_plugins/displays/axes/axes_display.hpp b/rviz/src/rviz/default_plugin/axes_display.h → ...lt_plugins/displays/axes/axes_display.hpp
@@ -27,55 +27,63 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef RVIZ_AXES_DISPLAY_H
-#define RVIZ_AXES_DISPLAY_H
+#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__AXES__AXES_DISPLAY_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__AXES__AXES_DISPLAY_HPP_
 
-#include "rviz/display.h"
+#include <memory>
 
-namespace rviz
-{
+#include "rviz_common/display.hpp"
 
+namespace rviz_rendering
+{
 class Axes;
+}
+
+namespace rviz_common
+{
+namespace properties
+{
 class FloatProperty;
 class TfFrameProperty;
+}
+}
 
-/** @brief Displays a set of XYZ axes at the origin of a chosen frame. */
-class AxesDisplay: public Display
+namespace rviz_default_plugins
 {
-Q_OBJECT
+namespace displays
+{
+
+class AxesDisplay : public rviz_common::Display
+{
+  Q_OBJECT
+
 public:
   AxesDisplay();
-  virtual ~AxesDisplay();
 
-  void onInitialize();
+  ~AxesDisplay() override;
 
-  /**
-   * \brief Set the parameters for the axes
-   * @param length Length of each axis
-   * @param radius Radius of each axis
-   */
-  void set( float length, float radius );
+  void onInitialize() override;
 
   // Overrides from Display
-  virtual void update(float dt, float ros_dt);
+  void update(float dt, float ros_dt) override;
 
 protected:
-  // overrides from Display
-  virtual void onEnable();
-  virtual void onDisable();
+  void onEnable() override;
+
+  void onDisable() override;
 
 private Q_SLOTS:
-  /** @brief Update the length and radius of the axes object from property values. */
   void updateShape();
 
 private:
-  Axes* axes_;      ///< Handles actually drawing the axes
+  std::shared_ptr<rviz_rendering::Axes> axes_;
 
-  FloatProperty* length_property_;
-  FloatProperty* radius_property_;
-  TfFrameProperty* frame_property_;
+  rviz_common::properties::FloatProperty * length_property_;
+  rviz_common::properties::FloatProperty * radius_property_;
+  rviz_common::properties::TfFrameProperty * frame_property_;
 };
 
-} // namespace rviz
+}  // namespace displays
+}  // namespace rviz_default_plugins
 
- #endif
+#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__AXES__AXES_DISPLAY_HPP_
diff --git a/rviz_default_plugins/plugins_description.xml b/rviz_default_plugins/plugins_description.xml
@@ -2,6 +2,17 @@
 
   <!-- Displays plugins -->
 
+  <class
+    name="rviz_default_plugins/Axes"
+    type="rviz_default_plugins::displays::AxesDisplay"
+    base_class_type="rviz_common::Display"
+  >
+    <description>
+      Displays an axis at the Target Frame's origin.
+      &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Axes"&gt;More Information&lt;/a&gt;.
+    </description>
+  </class>
+
   <class
     name="rviz_default_plugins/Camera"
     type="rviz_default_plugins::displays::CameraDisplay"