Merge pull request #1361 from k-okada/publish_scene

jsk_maps: add publish_scene.l

jsk_maps/launch/map_eng2.rviz

@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 555
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        eng2:
+          Value: true
+        eng2/1f:
+          Value: true
+        eng2/2f:
+          Value: true
+        eng2/3f:
+          Value: true
+        eng2/7f:
+          Value: true
+        eng2/7f/73B2:
+          Value: true
+        eng2/8f:
+          Value: true
+        map:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 10
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          eng2:
+            eng2/1f:
+              {}
+            eng2/2f:
+              {}
+            eng2/3f:
+              {}
+            eng2/7f:
+              eng2/7f/73B2:
+                {}
+              map:
+                {}
+            eng2/8f:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map_1F
+      Topic: /eng2/1f
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map_2F
+      Topic: /eng2/2f
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map_3F
+      Topic: /eng2/3f
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map_7F
+      Topic: /eng2/7f
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map_8F
+      Topic: /eng2/8f
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /spots_marker_array
+      Name: Spot
+      Namespaces:
+        pin_body: true
+        pin_head: true
+        pin_label: true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /scene_marker_array
+      Name: Scene
+      Namespaces:
+        eng2: true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 17.5847225189209
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 3.0254404544830322
+        Y: 12.41762924194336
+        Z: -2.188706636428833
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6754317283630371
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.052735805511475
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 28
+  Y: 28

jsk_maps/launch/start_map_eng2.launch

@@ -4,6 +4,7 @@
   <arg name="launch_map_server" default="true" />
   <arg name="use_machine" default="false" />
   <arg name="use_pictogram" default="false" />
+  <arg name="use_publish_scene" default="true" />
 
   <machine name="localhost" address="localhost" if="$(arg use_machine)" />
 
@@ -31,4 +32,11 @@
     <param name="~scene" value="eng2" />
     <param name="~use_pictogram" value="$(arg use_pictogram)" />
   </node>
+
+  <!-- for visualizing eus models on rviz -->
+  <node if="$(arg use_publish_scene)"
+        name="publish_eng2_scene" pkg="roseus" type="roseus"
+        args="$(find jsk_maps)/tools/publish_scene.l"
+        output="screen" >
+  </node>
 </launch>

jsk_maps/tools/publish_scene.l

@@ -0,0 +1,69 @@
+#!/usr/bin/env roseus
+
+(ros::roseus-add-msgs "jsk_rviz_plugins")
+
+(defvar *scene* nil)
+(defvar *current-map-id* nil)
+(defvar *pub-scene-marker-topic* "/scene_marker_array")
+(defvar *tf-listener* nil)
+(defvar *scene-name* nil)
+
+;; TODO object->marker-msg should ignore cascadedcoords in :bodies...(defun object->marker-msg (obj header &key
+;; See https://github.com/jsk-ros-pkg/jsk_roseus/pull/713
+(defun vector->rgba (cv &optional (alpha 1.0))
+  (if (= 4 (length cv)) (setq alpha (elt cv 3)))
+  (if (vectorp cv)
+      (instance std_msgs::ColorRGBA :init
+                :r (elt cv 0)
+                :g (elt cv 1)
+                :b (elt cv 2)
+                :a alpha)
+    (instance std_msgs::ColorRGBA :init
+              :r 0 :g 0 :b 0 :a alpha)))
+(defun object->marker-array-msg (obj header &rest args)
+  (let* ((bodies (mapcan #'(lambda (b)
+                             (cond ((find-method b :faces) (list b))
+                                   (t nil)))
+                         (send obj :bodies)))
+         (b1 (mapcan #'(lambda (b) (let ((c (get b :face-color))) (if (not (and (vectorp c) (= (length c) 4) (< (elt c 3) 1.0))) (list b)))) bodies)) ;; flat color
+         (b2 (mapcan #'(lambda (b) (let ((c (get b :face-color))) (if (and (vectorp c) (= (length c) 4) (< (elt c 3) 1.0)) (list b)))) bodies))) ;; transparent color
+    (instance visualization_msgs::MarkerArray :init
+              :markers
+              (list (apply #'object->marker-msg (instance bodyset-link :init obj :bodies b1) header :id 1 args)
+                    (apply #'object->marker-msg (instance bodyset-link :init obj :bodies b2) header :id 2 args)))))
+
+(defun load-scene ()
+  (let ()
+    (load (format nil "package://jsk_maps/src/~A-scene.l" *scene-name*))
+    (setq *scene* (funcall (intern (string-upcase (format nil "make-~A-scene" *scene-name*)))))))
+
+
+(defun publish-scene (&key (alpha 1.0) (lifetime 0))
+  (let* ((stamp (ros::time-now))
+         (header (instance std_msgs::header :init :stamp stamp :frame_id "/world"))
+         current-map-coords scene msg)
+
+    (unless (ros::get-topic-publisher *pub-scene-marker-topic*)
+      (unix:sleep 1))
+    ;; publish scene
+    (dolist (b (send *scene* :bodies)) (if (substringp "/floor-plane" (send b :name)) (send b :set-color #f(0 1 0 0.05))))  ;; force change transparent color for floor
+    (setq msg (object->marker-array-msg *scene* header :ns *scene-name* :alpha alpha :lifetime lifetime))
+    (ros::publish *pub-scene-marker-topic* msg)
+    ))
+
+
+(defun main ()
+  (ros::roseus "publish_scene")
+
+  ;; load params
+  (setq *scene-name* (ros::get-param "~scene" "eng2"))
+
+  (ros::ros-info "Advertise ~A" *pub-scene-marker-topic* )
+  (ros::advertise *pub-scene-marker-topic* visualization_msgs::MarkerArray 5 t) ;; latched true
+
+  (load-scene)
+
+  (publish-scene)
+  (ros::spin))
+
+(main)