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Add publishMesh example #154

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Add publishMesh example #154

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ba9ff88
Add publishMesh example
nbbrooks Jan 29, 2020
2731425
clang
nbbrooks Jun 2, 2020
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9 changes: 9 additions & 0 deletions .gitattributes
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
*.bmp filter=lfs diff=lfs merge=lfs -text
*.png filter=lfs diff=lfs merge=lfs -text
*.STL filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text
*.jpg filter=lfs diff=lfs merge=lfs -text
*.zip filter=lfs diff=lfs merge=lfs -text
*.tar.gz filter=lfs diff=lfs merge=lfs -text
*.ompldb filter=lfs diff=lfs merge=lfs -text
*.npy filter=lfs diff=lfs merge=lfs -text
9 changes: 8 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -198,6 +198,13 @@ install(
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# Install shared resources
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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Too many spaces between launch and DESTINATION

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I think the best thing would be to put DESTINATION on a new line, like at L205

install(
DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/meshes"
DESTINATION "share/${PROJECT_NAME}"
)

# Install header files
install(
DIRECTORY include/
Expand Down Expand Up @@ -244,4 +251,4 @@ if (BUILD_TESTING)
)
endif()

ament_package()
ament_package()
3 changes: 3 additions & 0 deletions meshes/bishop.stl
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3 changes: 3 additions & 0 deletions meshes/king.stl
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3 changes: 3 additions & 0 deletions meshes/knight.stl
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3 changes: 3 additions & 0 deletions meshes/pawn.stl
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3 changes: 3 additions & 0 deletions meshes/queen.stl
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3 changes: 3 additions & 0 deletions meshes/rook.stl
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30 changes: 28 additions & 2 deletions src/rviz_visual_tools_demo.cpp
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Expand Up @@ -358,7 +358,33 @@ class RvizVisualToolsDemo : public rclcpp::Node
*/

// --------------------------------------------------------------------
// TODO(davetcoleman): publishMesh
RCLCPP_INFO(get_logger(), "Displaying Meshes");
pose1 = Eigen::Isometry3d::Identity();
y += space_between_rows;
pose1.translation().y() = y;

step = 0.2;
const std::array<double, 6> thetas = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
const std::array<std::string, 6> meshes = {
"pawn", "knight", "bishop", "rook", "queen", "king"
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@AndyZe AndyZe Jun 8, 2020 •
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I'm not a huge fan of uploading so many STL's, I think one would have been fine. But I guess it's OK

}; // "pig" };
const std::array<rvt::colors, 6> mesh_colors = { rvt::RED, rvt::ORANGE, rvt::YELLOW,
rvt::GREEN, rvt::BLACK, rvt::WHITE };
const std::array<double, 6> scales = { 0.05, 0.05, 0.05, 0.05, 0.05, 0.05 };

for (size_t i = 0; i < meshes.size(); ++i)
{
visual_tools_->publishMesh(pose1 * Eigen::AngleAxisd(thetas[i], Eigen::Vector3d::UnitZ()),
"package://rviz_visual_tools/meshes/" + meshes[i] + ".stl",
mesh_colors[i], scales[i]);
if (i == 0.0)
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I suppose you could use (!i) here

{
publishLabelHelper(pose1, "Meshes");
}

pose1.translation().x() += step;
}
visual_tools_->trigger();

// --------------------------------------------------------------------
// TODO(davetcoleman): publishPolygon
Expand Down Expand Up @@ -656,7 +682,7 @@ int main(int argc, char* argv[])

// Allow the action server to recieve and send ros messages
executor->add_node(demo);
executor->spin_some();
executor->spin_once();

double x_location = 0;
demo->testRows(x_location);
Expand Down