[Personalrobots-commit] SF.net SVN: personalrobots: [167] pkg/branches/rosbus

[<mor...@us...>]

Revision: 167
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=167&view=rev
Author:   morgan_quigley
Date:     2008-04-23 14:30:43 -0700 (Wed, 23 Apr 2008)

Log Message:
-----------
nav view GUI coming over from ros core, because it doesn't belong on the ROS core svn

Added Paths:
-----------
    pkg/branches/rosbus/nav/
    pkg/branches/rosbus/nav/Makefile
    pkg/branches/rosbus/nav/nav_view/
    pkg/branches/rosbus/nav/nav_view/Makefile
    pkg/branches/rosbus/nav/nav_view/launch_in_namespace
    pkg/branches/rosbus/nav/nav_view/manifest.xml
    pkg/branches/rosbus/nav/nav_view/nav_view.cpp
    pkg/branches/rosbus/nav/nav_view/ns_demo

Added: pkg/branches/rosbus/nav/Makefile
===================================================================
--- pkg/branches/rosbus/nav/Makefile	                        (rev 0)
+++ pkg/branches/rosbus/nav/Makefile	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,3 @@
+SUBDIRS = nav_view
+include $(shell rospack find mk)/recurse_subdirs.mk
+

Added: pkg/branches/rosbus/nav/nav_view/Makefile
===================================================================
--- pkg/branches/rosbus/nav/nav_view/Makefile	                        (rev 0)
+++ pkg/branches/rosbus/nav/nav_view/Makefile	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,4 @@
+SRC = nav_view.cpp 
+OUT = nav_view
+PKG = nav_view
+include $(shell rospack find mk)/node.mk

Added: pkg/branches/rosbus/nav/nav_view/launch_in_namespace
===================================================================
--- pkg/branches/rosbus/nav/nav_view/launch_in_namespace	                        (rev 0)
+++ pkg/branches/rosbus/nav/nav_view/launch_in_namespace	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,9 @@
+#!/bin/bash
+export ROS_NAMESPACE=$ROS_NAMESPACE/nav
+ODOM=`rosmap odom $*`
+echo $ODOM
+if [ "$ODOM" = "" ]; then
+  echo "woah! i need an odometry map"
+  exit
+fi
+xterm -e `rospack find nav_view`/nav_view odom:=$ODOM &


Property changes on: pkg/branches/rosbus/nav/nav_view/launch_in_namespace
___________________________________________________________________
Name: svn:executable
   + *

Added: pkg/branches/rosbus/nav/nav_view/manifest.xml
===================================================================
--- pkg/branches/rosbus/nav/nav_view/manifest.xml	                        (rev 0)
+++ pkg/branches/rosbus/nav/nav_view/manifest.xml	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,5 @@
+<package>
+  <depend package="roscpp"/>
+  <depend package="std_msgs"/>
+  <depend package="sdlgl"/>
+</package>

Added: pkg/branches/rosbus/nav/nav_view/nav_view.cpp
===================================================================
--- pkg/branches/rosbus/nav/nav_view/nav_view.cpp	                        (rev 0)
+++ pkg/branches/rosbus/nav/nav_view/nav_view.cpp	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,81 @@
+#include <unistd.h>
+#include <math.h>
+#include <GL/gl.h>
+#include "ros/node.h"
+#include "std_msgs/MsgPose2DFloat32.h"
+#include "sdlgl/sdlgl.h"
+
+class NavView : public ros::node, public ros::SDLGL
+{
+public:
+  MsgPose2DFloat32 odom;
+  float view_scale, view_x, view_y;
+
+  NavView() : ros::node("nav_view"),
+    view_scale(50), view_x(0), view_y(0)
+  {
+    subscribe("odom", odom, &NavView::odom_cb);
+    init_gui(640, 480, "nav view");
+  }
+  void odom_cb()
+  {
+    request_render();
+  }
+  void render()
+  {
+    glClearColor(0.2,0.2,0.2,0);
+    glClear(GL_COLOR_BUFFER_BIT);
+    glLoadIdentity();
+    glScalef(view_scale, view_scale, view_scale);
+    glTranslatef(view_x, view_y, 0);
+
+    glPushMatrix();
+      odom.lock();
+      glTranslatef(odom.x, odom.y, 0);
+      glRotatef(odom.th * 180 / M_PI, 0, 0, 1);
+      odom.unlock();
+      glColor3f(0.2, 1.0, 0.4);
+      glBegin(GL_LINE_LOOP);
+        const float robot_rad = 0.3;
+        for (float f = 0; f < (float)(2*M_PI); f += 0.5f)
+          glVertex2f(robot_rad * cos(f), robot_rad * sin(f));
+      glEnd();
+      glBegin(GL_LINES);
+        glVertex2f(0,0);
+        glVertex2f(robot_rad,0);
+      glEnd();
+    glPopMatrix();
+
+    SDL_GL_SwapBuffers();
+  }
+  void set_view_params(int width, int height)
+  {
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    glOrtho(-width/2, width/2, -height/2, height/2, -1, 1);
+    glMatrixMode(GL_MODELVIEW);
+  }
+  virtual void mouse_motion(int x, int y, int dx, int dy, int buttons)
+  {
+    if (buttons & SDL_BUTTON(1)) // left button: translate view
+    {
+      view_x += dx / view_scale;
+      view_y -= dy / view_scale;
+      request_render();
+    }
+    else if (buttons & SDL_BUTTON(3)) // right button: scale view
+    {
+      view_scale *= 1.0 - dy * 0.01;
+      request_render();
+    }
+  }
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv);
+  NavView view;
+  view.main_loop();
+  return 0;
+}
+

Added: pkg/branches/rosbus/nav/nav_view/ns_demo
===================================================================
--- pkg/branches/rosbus/nav/nav_view/ns_demo	                        (rev 0)
+++ pkg/branches/rosbus/nav/nav_view/ns_demo	2008-04-23 21:30:43 UTC (rev 167)
@@ -0,0 +1,4 @@
+#!/bin/bash
+xterm -e `rospack find nav_view`/nav_view odom:=/robot/odom &
+export ROS_NAMESPACE=$ROS_NAMESPACE/robot
+xterm -e `rospack find flatland`/flatland &


Property changes on: pkg/branches/rosbus/nav/nav_view/ns_demo
___________________________________________________________________
Name: svn:executable
   + *


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