librviz使用

视角控制

?create视角控制器并加载设置

/*
rviz::ViewManager *view_manager_;
view_manager_ = manager_->getViewManager();
*/

void QRviz::setView(int flag)
{    
    QSettings view_setting("view_setting", "view_setting");//Qt保存的参数
    if(0 == flag)
    {
        //第三人称
        //"rviz/TopDownOrtho"是没有Focal Point及以下的选项
        view_manager_->setCurrentFrom(view_manager_->create("rviz/ThirdPersonFollower"));
        view_manager_->setRenderPanel(render_panel_);

        view_manager_->getCurrent()->subProp("Target Frame")->setValue("base_link");//固定视角跟随
            view_manager_->getCurrent()->subProp("Near Clip Distance")->setValue(view_setting.value("ncdistance0","0.001").toString());
            view_manager_->getCurrent()->subProp("Focal Point")->setValue("1.90735e-06;-7.62939e-06;0");
            view_manager_->getCurrent()->subProp("Focal Shape Size")->setValue("0.05");
            view_manager_->getCurrent()->subProp("Focal Shape Fixed Size")->setValue("true");
            view_manager_->getCurrent()->subProp("Distance")->setValue(view_setting.value("distance","8").toString());
            view_manager_->getCurrent()->subProp("Yaw")->setValue(view_setting.value("yaw","0.785398").toString());
            view_manager_->getCurrent()->subProp("Pitch")->setValue(view_setting.value("pitch","0.785398").toString());

    else if(1 == flag)
    {
        //俯视角
        view_manager_->setCurrentFrom(view_manager_->create("rviz/TopDownOrtho"));
        view_manager_->setRenderPanel(render_panel_);
        view_manager_->getCurrent()->subProp("Target Frame")->setValue("base_link");
        view_manager_->getCurrent()->subProp("Near Clip Distance")->setValue(view_setting.value("ncdistance1","0.001").toString());
        view_manager_->getCurrent()->subProp("Scale")->setValue(view_setting.value("scale","70").toString());
        view_manager_->getCurrent()->subProp("Angle")->setValue(view_setting.value("angle","0.000").toString());

    }

}

更改设置并更新

void QRviz::setViewConfig(int view, int mode,bool b)
{
    QSettings view_setting("view_setting", "view_setting");
    if(view == 1)
    {
        if(mode == 0)
        {
            if(b == true)
            {
                distance = distance - add_distance;
            }else
            {
                distance = distance + add_distance;
            }
            view_manager_->getCurrent()->subProp("Distance")->setValue(distance);
        }
        else if(mode == 1)
        {
            if(b == true)
            {
                X_T = X_T + add_XY;
            }else
            {
                X_T = X_T - add_XY;
            }
            view_manager_->getCurrent()->subProp("Focal Point")->subProp("X")->setValue(X_T);
        }
        else if(mode == 2)
        {
            if(b == true)
            {
                Y_T = Y_T - add_XY;
            }else
            {
                Y_T = Y_T + add_XY;
            }
            view_manager_->getCurrent()->subProp("Focal Point")->subProp("Y")->setValue(Y_T);
        }

    }
    else if(view == 2)
    {
        if(mode == 0)
        {
            if(b == true)
            {
                scale = scale + add_distance;
            }else
            {
                scale = scale - add_distance;
            }
            view_manager_->getCurrent()->subProp("Scale")->setValue(scale);
        }
        else if(mode == 1)
        {
            if(b == true)
            {
                X_D = X_D + add_XY;
            }else
            {
                X_D = X_D - add_XY;
            }
            view_manager_->getCurrent()->subProp("X")->setValue(X_D);
        }
        else if(mode == 2)
        {
            if(b == true)
            {
                Y_D = Y_D + add_XY;
            }else
            {
                Y_D = Y_D - add_XY;
            }
            view_manager_->getCurrent()->subProp("Y")->setValue(Y_D);
        }
    }
    view_manager_->getCurrent()->activate();
}

重点是更改完设置后需要调用activate()进行更新，不然配置无法生效

view_manager_->getCurrent()->activate();

插件加载

其实也就是工具加载，rviz通用工具也是内部自带插件。

事先再ros工作空间中编译好插件，编译方法与再rviz中使用插件一样。

//.h文件中
#include <pluginlib/class_loader.hpp>

void Set_3DGoal();

//插件加载
rviz::PluginlibFactory<rviz::Tool> *plugin;

//.cpp

plugin = new rviz::PluginlibFactory<rviz::Tool>("rviz_plugins", "rviz::Tool");//加载插件，只要new了就行

//就像调用通用工具一样调用插件
void QRviz::Set_3DGoal()
{
     current_tool= tool_manager_->addTool("rviz_plugins/Goal3DTool");

     tool_manager_->setCurrentTool( current_tool );
     manager_->startUpdate();//更新所有图层
}