Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(tier4_state_rviz_plugin): add init by gnss button #4392

Merged
merged 2 commits into from
Aug 3, 2023
Merged

feat(tier4_state_rviz_plugin): add init by gnss button #4392

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
eb2cef3
feat(tier4_state_rviz_plugin): add init by gnss button
isamu-takagi Jul 25, 2023
933da9a
Merge branch 'main' into feat/state-panel-init-by-gnss-button
isamu-takagi Aug 3, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 12 additions & 0 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -166,6 +166,10 @@ QGroupBox * AutowareStatePanel::makeLocalizationGroup()
localization_label_ptr_->setStyleSheet("border:1px solid black;");
grid->addWidget(localization_label_ptr_, 0, 0);

init_by_gnss_button_ptr_ = new QPushButton("Init by GNSS");
connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss()));
grid->addWidget(init_by_gnss_button_ptr_, 1, 0);

group->setLayout(grid);
return group;
}
Expand Down Expand Up @@ -249,6 +253,9 @@ void AutowareStatePanel::onInitialize()
"/api/localization/initialization_state", rclcpp::QoS{1}.transient_local(),
std::bind(&AutowareStatePanel::onLocalization, this, _1));

client_init_by_gnss_ =
raw_node_->create_client<InitializeLocalization>("/api/localization/initialize");

// Motion
sub_motion_ = raw_node_->create_subscription<MotionState>(
"/api/motion/state", rclcpp::QoS{1}.transient_local(),
Expand Down Expand Up @@ -587,6 +594,11 @@ void AutowareStatePanel::onClickClearRoute()
callServiceWithoutResponse<ClearRoute>(client_clear_route_);
}

void AutowareStatePanel::onClickInitByGnss()
{
callServiceWithoutResponse<InitializeLocalization>(client_init_by_gnss_);
}

void AutowareStatePanel::onClickAcceptStart()
{
callServiceWithoutResponse<AcceptStart>(client_accept_start_);
Expand Down
6 changes: 6 additions & 0 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
#include <tier4_external_api_msgs/msg/emergency.hpp>
#include <tier4_external_api_msgs/srv/set_emergency.hpp>
Expand All @@ -51,6 +52,7 @@ class AutowareStatePanel : public rviz_common::Panel
using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute;
using LocalizationInitializationState =
autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
using InitializeLocalization = autoware_adapi_v1_msgs::srv::InitializeLocalization;
using MotionState = autoware_adapi_v1_msgs::msg::MotionState;
using AcceptStart = autoware_adapi_v1_msgs::srv::AcceptStart;
using MRMState = autoware_adapi_v1_msgs::msg::MrmState;
Expand All @@ -69,6 +71,7 @@ public Q_SLOTS: // NOLINT for Qt
void onClickAutowareControl();
void onClickDirectControl();
void onClickClearRoute();
void onClickInitByGnss();
void onClickAcceptStart();
void onClickVelocityLimit();
void onClickEmergencyButton();
Expand Down Expand Up @@ -130,7 +133,10 @@ public Q_SLOTS: // NOLINT for Qt

// Localization
QLabel * localization_label_ptr_{nullptr};
QPushButton * init_by_gnss_button_ptr_{nullptr};

rclcpp::Subscription<LocalizationInitializationState>::SharedPtr sub_localization_;
rclcpp::Client<InitializeLocalization>::SharedPtr client_init_by_gnss_;

void onLocalization(const LocalizationInitializationState::ConstSharedPtr msg);

Expand Down