[jsk_rviz_plugins] ROS2 migration

jsk_rviz_plugins/src/cancel_action.h → jsk_rviz_plugins/include/cancel_action.h

@@ -2,34 +2,28 @@
 #define CANCEL_ACTION_H
 
 #ifndef Q_MOC_RUN
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
+#include <actionlib_msgs/msg/goal_id.hpp>
 
-#include <rviz/panel.h>
-#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
-#  include <QtWidgets>
-#else
-#  include <QtGui>
-#endif
+#include <rviz_common/panel.hpp>
+#include <QtWidgets>
 #endif
 
 class QLineEdit;
 class QLabel;
 class QPushButton;
-//class QSignalMapper;
 
 namespace jsk_rviz_plugins
 {
-  class CancelAction: public rviz::Panel
+  class CancelAction: public rviz_common::Panel
     {
-      // This class uses Qt slots and is a subclass of QObject, so it needs
-      // the Q_OBJECT macro.
 Q_OBJECT
   public:
       CancelAction( QWidget* parent = 0 );
 
-
-      virtual void load( const rviz::Config& config );
-      virtual void save( rviz::Config config ) const;
+      virtual void onInitialize();
+      virtual void load( const rviz_common::Config& config );
+      virtual void save( rviz_common::Config config ) const;
 
       public Q_SLOTS:
 
@@ -65,19 +59,14 @@ Q_OBJECT
 	QHBoxLayout* layout_;
 	QPushButton* remove_button_;
 	QLabel* topic_name_;
-	ros::Publisher publisher_;
+	rclcpp::Publisher<actionlib_msgs::msg::GoalID>::SharedPtr publisher_;
       };
 
       std::vector<topicListLayout> topic_list_layouts_;
 
-      // The ROS publisher for the command velocity.
-      ros::Publisher velocity_publisher_;
-
-      // The ROS node handle.
-      ros::NodeHandle nh_;
-
+      rclcpp::Node::SharedPtr node_;
     };
 
 }
 
-#endif // TELEOP_PANEL_H
+#endif // CANCEL_ACTION_H

jsk_rviz_plugins/src/close_all_tool.h → jsk_rviz_plugins/include/close_all_tool.h

@@ -33,17 +33,15 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-
 #ifndef JSK_RVIZ_PLUGIN_CLOSE_ALL_TOOL_H_
 #define JSK_RVIZ_PLUGIN_CLOSE_ALL_TOOL_H_
 
-#include <rviz/tool.h>
-#include <rviz/properties/property.h>
-#include <rviz/properties/property_tree_model.h>
+#include <rviz_common/tool.hpp>
+#include <rviz_common/properties/property.hpp>
 
 namespace jsk_rviz_plugins
 {
-  class CloseAllTool: public rviz::Tool
+  class CloseAllTool: public rviz_common::Tool
   {
   public:
     CloseAllTool();
@@ -52,9 +50,7 @@ namespace jsk_rviz_plugins
     virtual void activate();
     virtual void deactivate();
   protected:
-    virtual void closeProperty(rviz::Property* property);
-  private:
-
+    virtual void closeProperty(rviz_common::properties::Property* property);
   };
 }
 

jsk_rviz_plugins/src/diagnostics_display.h → jsk_rviz_plugins/include/diagnostics_display.h

@@ -37,25 +37,27 @@
 #define JSK_RVIZ_PLUGIN_DIAGNOSTICS_DISPLAY_H_
 
 #ifndef Q_MOC_RUN
-#include <rviz/display.h>
-#include <rviz/properties/float_property.h>
-#include <rviz/properties/string_property.h>
-#include <rviz/properties/editable_enum_property.h>
-#include <rviz/properties/tf_frame_property.h>
-#include <rviz/properties/ros_topic_property.h>
-#include <rviz/properties/enum_property.h>
-#include <diagnostic_msgs/DiagnosticArray.h>
-#include <rviz/ogre_helpers/billboard_line.h>
-#include <rviz/display_context.h>
-#include <rviz/frame_manager.h>
-#include <OGRE/OgreSceneNode.h>
-#include <OGRE/OgreSceneManager.h>
-#include <rviz/ogre_helpers/movable_text.h>
+#include <set>
+#include <rviz_common/display.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/string_property.hpp>
+#include <rviz_common/properties/editable_enum_property.hpp>
+#include <rviz_common/properties/tf_frame_property.hpp>
+#include <rviz_common/properties/ros_topic_property.hpp>
+#include <rviz_common/properties/enum_property.hpp>
+#include <rviz_common/display_context.hpp>
+#include <rviz_common/frame_manager_iface.hpp>
+#include <rviz_rendering/objects/billboard_line.hpp>
+#include <rviz_rendering/objects/movable_text.hpp>
+#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <OgreSceneNode.h>
+#include <OgreSceneManager.h>
 #endif
 
 namespace jsk_rviz_plugins
 {
-  class DiagnosticsDisplay : public rviz::Display
+  class DiagnosticsDisplay : public rviz_common::Display
   {
     Q_OBJECT
   public:
@@ -70,23 +72,23 @@ namespace jsk_rviz_plugins
     virtual void updateLine();
     virtual void update(float wall_dt, float ros_dt);
     virtual void processMessage
-    (const diagnostic_msgs::DiagnosticArray::ConstPtr& msg);
-    
-    rviz::RosTopicProperty* ros_topic_property_;
-    rviz::EditableEnumProperty* diagnostics_namespace_property_;
-    rviz::TfFrameProperty* frame_id_property_;
-    rviz::FloatProperty* radius_property_;
-    rviz::FloatProperty* line_width_property_;
-    rviz::FloatProperty* font_size_property_;
-    rviz::EnumProperty* axis_property_;
-    ros::Subscriber sub_;
-    
+    (const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg);
+
+    rviz_common::properties::RosTopicProperty* ros_topic_property_;
+    rviz_common::properties::EditableEnumProperty* diagnostics_namespace_property_;
+    rviz_common::properties::TfFrameProperty* frame_id_property_;
+    rviz_common::properties::FloatProperty* radius_property_;
+    rviz_common::properties::FloatProperty* line_width_property_;
+    rviz_common::properties::FloatProperty* font_size_property_;
+    rviz_common::properties::EnumProperty* axis_property_;
+    rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr sub_;
+
     double radius_;
     double line_width_;
     std::string frame_id_;
     std::string diagnostics_namespace_;
-    rviz::MovableText* msg_;
-    rviz::BillboardLine* line_;
+    rviz_rendering::MovableText* msg_;
+    rviz_rendering::BillboardLine* line_;
     Ogre::SceneNode* orbit_node_;
     std::set<std::string> namespaces_;
     int axis_;
@@ -102,10 +104,9 @@ namespace jsk_rviz_plugins
     virtual void updateFontSize();
     virtual void fillNamespaceList();
   private:
-    
+
   };
-
-}
 
+}
 
 #endif

jsk_rviz_plugins/src/empty_service_call_interface.h → jsk_rviz_plugins/include/empty_service_call_interface.h

@@ -2,14 +2,12 @@
 #define EMPTY_SERCICE_CALL_INTERFACE_H
 
 #ifndef Q_MOC_RUN
-#include <ros/ros.h>
-#include <rviz/panel.h>
-#include <std_srvs/Empty.h>
-#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
-#  include <QtWidgets>
-#else
-#  include <QtGui>
-#endif
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rviz_common/panel.hpp>
+#include <std_srvs/srv/empty.hpp>
+#include <rviz_common/display_context.hpp>
+#include <QtWidgets>
 #endif
 
 namespace jsk_rviz_plugins
@@ -21,20 +19,21 @@ namespace jsk_rviz_plugins
     std::string text;
   };
 
-  class EmptyServiceCallInterfaceAction: public rviz::Panel
+  class EmptyServiceCallInterfaceAction: public rviz_common::Panel
   {
     Q_OBJECT
     public:
     EmptyServiceCallInterfaceAction( QWidget* parent = 0 );
 
-    virtual void load( const rviz::Config& config );
-    virtual void save( rviz::Config config ) const;
+    virtual void onInitialize() override;
+    virtual void load( const rviz_common::Config& config );
+    virtual void save( rviz_common::Config config ) const;
 
   protected Q_SLOTS:
     void callRequestEmptyCommand(int button_id);
     void parseROSParameters();
   protected:
-    ros::NodeHandle nh_;
+    rclcpp::Node::SharedPtr plugin_node_;
     std::vector<ServiceCallButtonInfo> service_call_button_infos_;
     QVBoxLayout* layout;
     QHBoxLayout* h_layout;

jsk_rviz_plugins/src/linear_gauge_display.h → jsk_rviz_plugins/include/linear_gauge_display.h

@@ -35,25 +35,27 @@
 #ifndef JSK_RVIZ_PLUGIN_LINEAR_GAUGE_H_
 #define JSK_RVIZ_PLUGIN_LINEAR_GAUGE_H_
 
-#include "std_msgs/Float32.h"
+#include <std_msgs/msg/float32.hpp>
 #ifndef Q_MOC_RUN
-#include <rviz/display.h>
+#include <mutex>
+#include <rviz_common/display.hpp>
 #include "overlay_utils.h"
-#include <OGRE/OgreColourValue.h>
-#include <OGRE/OgreTexture.h>
-#include <OGRE/OgreMaterial.h>
-#include <rviz/properties/int_property.h>
-#include <rviz/properties/float_property.h>
-#include <rviz/properties/color_property.h>
-#include <rviz/properties/bool_property.h>
-#include <rviz/properties/ros_topic_property.h>
+#include <OgreColourValue.h>
+#include <OgreTexture.h>
+#include <OgreMaterial.h>
+#include <rviz_common/properties/int_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/ros_topic_property.hpp>
+#include <rclcpp/rclcpp.hpp>
 #endif
 
 namespace jsk_rviz_plugins
 {
 
   class LinearGaugeDisplay
-    : public rviz::Display
+    : public rviz_common::Display
   {
     Q_OBJECT
   public:
@@ -66,47 +68,41 @@ namespace jsk_rviz_plugins
     virtual int getX() { return left_; };
     virtual int getY() { return top_; };
   protected:
-    ////////////////////////////////////////////////////////
-    // methods
-    ////////////////////////////////////////////////////////
     virtual void update(float wall_dt, float ros_dt);
     virtual void subscribe();
     virtual void unsubscribe();
     virtual void onEnable();
     virtual void onDisable();
     virtual void onInitialize();
-    virtual void processMessage(const std_msgs::Float32::ConstPtr& msg);
+    virtual void processMessage(const std_msgs::msg::Float32::SharedPtr msg);
     virtual void drawPlot();
-    ////////////////////////////////////////////////////////
-    // properties
-    ////////////////////////////////////////////////////////
-    rviz::RosTopicProperty* update_topic_property_;
-    rviz::BoolProperty* show_value_property_;
-    rviz::BoolProperty* vertical_gauge_property_;
-    rviz::ColorProperty* fg_color_property_;
-    rviz::ColorProperty* bg_color_property_;
-    rviz::FloatProperty* fg_alpha_property_;
-    rviz::FloatProperty* bg_alpha_property_;
-    rviz::FloatProperty* update_interval_property_;
-    rviz::BoolProperty* show_border_property_;
-    rviz::IntProperty* buffer_length_property_;
-    rviz::IntProperty* width_property_;
-    rviz::IntProperty* height_property_;
-    rviz::IntProperty* left_property_;
-    rviz::IntProperty* top_property_;
-    rviz::IntProperty* line_width_property_;
-    rviz::BoolProperty* auto_color_change_property_;
-    rviz::ColorProperty* max_color_property_;
-    rviz::BoolProperty* show_caption_property_;
-    rviz::IntProperty* text_size_property_;
-    rviz::FloatProperty* max_value_property_;
-    rviz::FloatProperty* min_value_property_;
-
+
+    rviz_common::properties::RosTopicProperty* update_topic_property_;
+    rviz_common::properties::BoolProperty* show_value_property_;
+    rviz_common::properties::BoolProperty* vertical_gauge_property_;
+    rviz_common::properties::ColorProperty* fg_color_property_;
+    rviz_common::properties::ColorProperty* bg_color_property_;
+    rviz_common::properties::FloatProperty* fg_alpha_property_;
+    rviz_common::properties::FloatProperty* bg_alpha_property_;
+    rviz_common::properties::FloatProperty* update_interval_property_;
+    rviz_common::properties::BoolProperty* show_border_property_;
+    rviz_common::properties::IntProperty* width_property_;
+    rviz_common::properties::IntProperty* height_property_;
+    rviz_common::properties::IntProperty* left_property_;
+    rviz_common::properties::IntProperty* top_property_;
+    rviz_common::properties::IntProperty* line_width_property_;
+    rviz_common::properties::BoolProperty* auto_color_change_property_;
+    rviz_common::properties::ColorProperty* max_color_property_;
+    rviz_common::properties::BoolProperty* show_caption_property_;
+    rviz_common::properties::IntProperty* text_size_property_;
+    rviz_common::properties::FloatProperty* max_value_property_;
+    rviz_common::properties::FloatProperty* min_value_property_;
+
     OverlayObject::Ptr overlay_;
     QColor fg_color_;
     QColor max_color_;
     QColor bg_color_;
-   
+
     double fg_alpha_;
     double bg_alpha_;
     bool show_border_;
@@ -117,7 +113,7 @@ namespace jsk_rviz_plugins
     bool draw_required_;
     float last_time_;
     float update_interval_;
-    
+
     uint16_t texture_width_;
     uint16_t texture_height_;
     int left_;
@@ -133,13 +129,9 @@ namespace jsk_rviz_plugins
     float data_;
     bool first_time_;
 
-
-    ////////////////////////////////////////////////////////
-    // ROS variables
-    ////////////////////////////////////////////////////////
-    boost::mutex mutex_;
-    ros::Subscriber sub_;
-
+    std::mutex mutex_;
+    rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr sub_;
+
   protected Q_SLOTS:
     void updateTopic();
     void updateShowValue();