rviz panel working when rviz2 supports it

Author: SteveMacenski

CMakeLists.txt

@@ -46,6 +46,8 @@ set(dependencies
   std_srvs
   builtin_interfaces
   rviz_common
+  rviz_rendering
+  rviz_default_plugins
   #interactive_markers
 )
 
@@ -55,7 +57,7 @@ set(libraries
     sync_slam_toolbox
     async_slam_toolbox
     toolbox_common
-    SlamToolboxPlugin
+    #SlamToolboxPlugin
     ceres_solver_plugin
 )
 
@@ -95,27 +97,28 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs
 )
 
-set(CMAKE_AUTOMOC ON)
-find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
-set(QT_LIBRARIES Qt5::Widgets Qt5::Core)
-macro(qt_wrap_ui)
-  qt5_wrap_ui(${ARGN})
-endmacro()
-macro(qt_wrap_cpp)
-  qt5_wrap_cpp(${ARGN})
-endmacro()
-
-#### rviz Plugin TODO port to ROS2
-qt_wrap_cpp(MOC_FILES rviz_plugin/slam_toolbox_rviz_plugin.h)
-set(SOURCE_FILES rviz_plugin/slam_toolbox_rviz_plugin.cpp )
-set(HEADER_FILES rviz_plugin/slam_toolbox_rviz_plugin.h )
-add_library(SlamToolboxPlugin ${SOURCE_FILES} ${HEADER_FILES})
-ament_target_dependencies(SlamToolboxPlugin
-  ${dependencies}
-)
-target_link_libraries(SlamToolboxPlugin karto ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${QT_LIBRARIES})
-rosidl_target_interfaces(SlamToolboxPlugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
-pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
+#set(CMAKE_AUTOMOC ON)
+#find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+#set(QT_LIBRARIES Qt5::Widgets Qt5::Core)
+#macro(qt_wrap_ui)
+#  qt5_wrap_ui(${ARGN})
+#endmacro()
+#macro(qt_wrap_cpp)
+#  qt5_wrap_cpp(${ARGN})
+#endmacro()
+
+#### rviz Plugin
+#qt_wrap_cpp(MOC_FILES rviz_plugin/slam_toolbox_rviz_plugin.h)
+#set(SOURCE_FILES rviz_plugin/slam_toolbox_rviz_plugin.cpp )
+#set(HEADER_FILES rviz_plugin/slam_toolbox_rviz_plugin.h )
+#add_library(SlamToolboxPlugin ${SOURCE_FILES} ${HEADER_FILES})
+#ament_target_dependencies(SlamToolboxPlugin
+#  ${dependencies}
+#)
+#target_link_libraries(SlamToolboxPlugin karto ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${QT_LIBRARIES})
+#rosidl_target_interfaces(SlamToolboxPlugin ${PROJECT_NAME} "rosidl_typesupport_cpp")
+#target_compile_definitions(SlamToolboxPlugin PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+#pluginlib_export_plugin_description_file(slam_toolbox rviz_plugins.xml)
 
 #### Ceres Plugin
 add_library(ceres_solver_plugin solvers/ceres_solver.cpp)
@@ -194,7 +197,7 @@ install(DIRECTORY config
   DESTINATION share
 )
 
-install(FILES solver_plugins.xml rviz_plugins.xml
+install(FILES solver_plugins.xml #rviz_plugins.xml
   DESTINATION share
 )
 

README.md

@@ -8,8 +8,8 @@
 
 NOTE: ROS2 Port of Slam Toolbox is still experimental. Known on-going work:
 - Interactive markers need to be ported to ROS2 and integrated
+- Panel plugins need to be ported to ROS2 to test and ship the rviz plugin
 - The toolbox needs to be largely tested
-- The rviz plugin needs to work as a nested widget
 - launch and config files need to be ported
 
 # Introduction

rviz_plugins.xml

@@ -1,9 +1,8 @@
-<library path="libSlamToolboxPlugin">
-    <class name="slam_toolbox::SlamToolboxPlugin"
-           type="slam_toolbox::SlamToolboxPlugin"
-           base_class_type="rviz::Panel">
-        <description>
-            Panel to assist in Mapping and SLAM with the slam_toolbox
-        </description>
-    </class>
+<library path="SlamToolboxPlugin">
+  <class 
+    name="slam_toolbox::SlamToolboxPlugin" 
+    type="slam_toolbox::SlamToolboxPlugin" 
+    base_class_type="rviz_common::Panel">
+    <description> Panel to assist in Mapping and SLAM with the slam_toolbox </description>
+  </class>
 </library>

solver_plugins.xml

@@ -1,15 +1,3 @@
-<!-- <library path="spa_solver_plugin">
-  <class type="solver_plugins::SpaSolver" base_class_type="karto::ScanSolver">
-    <description> SPA Optimizer for karto </description>
-  </class>
-</library> -->
-
-<!-- <library path="g2O_solver_plugin">
-  <class type="solver_plugins::G2OSolver" base_class_type="karto::ScanSolver">
-    <description> G2O Optimizer for karto </description>
-  </class>
-</library> -->
-
 <library path="ceres_solver_plugin">
   <class 
     name="solver_plugins::CeresSolver" 
@@ -24,3 +12,15 @@
     <description> GTSAM Optimizer for karto </description>
   </class>
 </library> -->
+
+<!-- <library path="spa_solver_plugin">
+  <class type="solver_plugins::SpaSolver" base_class_type="karto::ScanSolver">
+    <description> SPA Optimizer for karto </description>
+  </class>
+</library> -->
+
+<!-- <library path="g2O_solver_plugin">
+  <class type="solver_plugins::G2OSolver" base_class_type="karto::ScanSolver">
+    <description> G2O Optimizer for karto </description>
+  </class>
+</library> -->