laser3d_interactive_control.cpp

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#include <ros/ros.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>
#include <math.h>
#include <sensor_msgs/JointState.h>

using namespace visualization_msgs;
// using namespace tf;

bool pos_control=true;


// %Tag(vars)%
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
float marker_pos = 0;
interactive_markers::MenuHandler menu_handler;
ros::Publisher pub;
// %EndTag(vars)%

// %Tag(frameCallback)%
void frameCallback(const ros::TimerEvent&)
{
        //static uint32_t counter = 0;

        //static tf::TransformBroadcaster br;

        //tf::Transform t;

        //ros::Time time = ros::Time::now();

        //t.setOrigin(tf::Vector3(0.0, 0.0, sin(float(counter)/140.0) * 2.0));
        //t.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0));
        //br.sendTransform(tf::StampedTransform(t, time, "base_link", "moving_frame"));

        //t.setOrigin(tf::Vector3(0.0, 0.0, 0.0));
        //t.setRotation(tf::createQuaternionFromRPY(0.0, float(counter)/140.0, 0.0));
        //br.sendTransform(tf::StampedTransform(t, time, "base_link", "rotating_frame"));

        //++counter;
}
// %EndTag(frameCallback)%

// %Tag(processFeedback)%
void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        std::ostringstream s;
        s << "Feedback from marker '" << feedback->marker_name << "' "
                << " / control '" << feedback->control_name << "'";

        std::ostringstream mouse_point_ss;
        if( feedback->mouse_point_valid )
        {
                mouse_point_ss << " at " << feedback->mouse_point.x
                        << ", " << feedback->mouse_point.y
                        << ", " << feedback->mouse_point.z
                        << " in frame " << feedback->header.frame_id;
        }

        switch ( feedback->event_type )
        {
                //case visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK:
                //ROS_INFO_STREAM( s.str() << ": button click" << mouse_point_ss.str() << "." );
                //break;

                case visualization_msgs::InteractiveMarkerFeedback::MENU_SELECT:
                        ROS_INFO_STREAM( s.str() << ": menu item " << feedback->menu_entry_id << " clicked" << mouse_point_ss.str() << "." );
                        if (feedback->menu_entry_id==1)
                        {
                                pos_control=true;
                                ROS_INFO("Selected pos control");
                                sensor_msgs::JointState joint_state;
                                joint_state.header.stamp = ros::Time::now();
                                joint_state.name.resize(1);
                                joint_state.position.resize(1);
                                joint_state.velocity.resize(0);
                                joint_state.name[0] =ros::names::remap("shaft");
                                joint_state.position[0] = 0;
                                pub.publish(joint_state);


                        }
                        else if (feedback->menu_entry_id==3)
                        {
                                //set 30 rpm
                                pos_control=false;
                                ROS_INFO("Selected speed control");
                                sensor_msgs::JointState joint_state;
                                joint_state.header.stamp = ros::Time::now();
                                joint_state.name.resize(1);
                                joint_state.position.resize(1);
                                joint_state.velocity.resize(1);
                                joint_state.name[0] =ros::names::remap("shaft");
                                joint_state.position[0] = 0;
                                joint_state.velocity[0] = 30;
                                pub.publish(joint_state);
                        }
                        else if (feedback->menu_entry_id==4)
                        {
                                //set 30 rpm
                                pos_control=false;
                                ROS_INFO("Selected speed control");
                                sensor_msgs::JointState joint_state;
                                joint_state.header.stamp = ros::Time::now();
                                joint_state.name.resize(1);
                                joint_state.position.resize(1);
                                joint_state.velocity.resize(1);
                                joint_state.name[0] =ros::names::remap("shaft");
                                joint_state.position[0] = 0;
                                joint_state.velocity[0] = 60;
                                pub.publish(joint_state);

                        }

                        break;

                case visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE:

                        #if ROS_VERSION_MINIMUM(1, 8, 0)
                                tf::Quaternion q;
                                tf::Matrix3x3 M(q);
                        #else
                                btQuaternion q;
                                btMatrix3x3 M(q);
                        #endif

                        
                        q[0] = feedback->pose.orientation.x;
                        q[1] = feedback->pose.orientation.y;
                        q[2] = feedback->pose.orientation.z;
                        q[3] = feedback->pose.orientation.w;

                        

                        double r,p,y;
                        M.getRPY(r,p,y);
                        if (pos_control==true)
                        {
                                sensor_msgs::JointState joint_state;
                                joint_state.header.stamp = ros::Time::now();
                                joint_state.name.resize(1);
                                joint_state.position.resize(1);
                                joint_state.velocity.resize(0);
                                joint_state.name[0] =ros::names::remap("shaft");
                                joint_state.position[0] = y;
                                pub.publish(joint_state);
                                ROS_INFO("new pos %f",y);
                        }
                        //sensor_msgs::JointState joint_state;
                        //joint_state.header.stamp = ros::Time::now();
                        //joint_state.name.resize(2);
                        //joint_state.position.resize(2);
                        //joint_state.name[0] =ros::names::remap("pan");
                        //joint_state.position[0] = y;
                        //joint_state.name[1] =ros::names::remap("tilt");
                        //joint_state.position[1] = p;
                        //pub.publish(joint_state);


                        //ROS_INFO_STREAM( s.str() << ": pose changed"
                        //<< "\nposition = "
                        //<< feedback->pose.position.x
                        //<< ", " << feedback->pose.position.y
                        //<< ", " << feedback->pose.position.z
                        //<< "\norientation = "
                        //<< feedback->pose.orientation.w
                        //<< ", " << feedback->pose.orientation.x
                        //<< ", " << feedback->pose.orientation.y
                        //<< ", " << feedback->pose.orientation.z
                        //<< "\nframe: " << feedback->header.frame_id
                        //<< " time: " << feedback->header.stamp.sec << "sec, "
                        //<< feedback->header.stamp.nsec << " nsec" );
                        break;

                        //case visualization_msgs::InteractiveMarkerFeedback::MOUSE_DOWN:
                        //ROS_INFO_STREAM( s.str() << ": mouse down" << mouse_point_ss.str() << "." );
                        //break;

                        //case visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP:
                        //ROS_INFO_STREAM( s.str() << ": mouse up" << mouse_point_ss.str() << "." );
                        //break;
        }

        server->applyChanges();
}
// %EndTag(processFeedback)%

// %Tag(alignMarker)%
void alignMarker( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
        geometry_msgs::Pose pose = feedback->pose;

        pose.position.x = round(pose.position.x-0.5)+0.5;
        pose.position.y = round(pose.position.y-0.5)+0.5;

        ROS_INFO_STREAM( feedback->marker_name << ":"
                        << " aligning position = "
                        << feedback->pose.position.x
                        << ", " << feedback->pose.position.y
                        << ", " << feedback->pose.position.z
                        << " to "
                        << pose.position.x
                        << ", " << pose.position.y
                        << ", " << pose.position.z );

        server->setPose( feedback->marker_name, pose );
        server->applyChanges();
}
// %EndTag(alignMarker)%

double rand( double min, double max )
{
        double t = (double)rand() / (double)RAND_MAX;
        return min + t*(max-min);
}

// %Tag(Box)%
Marker makeBox( InteractiveMarker &msg )
{
        Marker marker;

        marker.type = Marker::SPHERE;
        marker.scale.x = msg.scale * 0.45;
        marker.scale.y = msg.scale * 0.45;
        marker.scale.z = msg.scale * 0.45;
        marker.color.r = 0;
        marker.color.g = 0.7;
        marker.color.b = 0;
        marker.color.a = 0.6;

        return marker;
}

InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
        InteractiveMarkerControl control;
        control.always_visible = true;
        control.markers.push_back( makeBox(msg) );
        msg.controls.push_back( control );

        return msg.controls.back();
}
// %EndTag(Box)%

void saveMarker( InteractiveMarker int_marker )
{
        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}


// %Tag(6DOF)%
void make6DofMarker( bool fixed )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/atc/vehicle/center_bumper";
        int_marker.pose.position.x = 2;
        int_marker.pose.position.y = 0;
        int_marker.pose.position.z = 0.5;
        int_marker.scale = 0.5;

        int_marker.name = "Fovetation Control Target";
        int_marker.description = "Foveation_control will try \nto aim the PTU towards\n the marker";

        // insert a box
        makeBoxControl(int_marker);
        InteractiveMarkerControl control;

        if ( fixed )
        {
                //int_marker.name += "_fixed";
                //int_marker.description += "\n(fixed orientation)";
                //control.orientation_mode = InteractiveMarkerControl::FIXED;
        }

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        //control.name = "rotate_x";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        control.name = "move_x";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        //control.name = "rotate_z";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        control.name = "move_z";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 0;
        control.orientation.z = 1;
        //control.name = "rotate_y";
        //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        //int_marker.controls.push_back(control);
        control.name = "move_y";
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(6DOF)%

// %Tag(RandomDof)%
void makeRandomDofMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "6dof_random_axes";
        int_marker.description = "6-DOF\n(Arbitrary Axes)";

        makeBoxControl(int_marker);

        InteractiveMarkerControl control;

        for ( int i=0; i<3; i++ )
        {
                control.orientation.w = rand(-1,1);
                control.orientation.x = rand(-1,1);
                control.orientation.y = rand(-1,1);
                control.orientation.z = rand(-1,1);
                control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
                int_marker.controls.push_back(control);
                control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
                int_marker.controls.push_back(control);
        }

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(RandomDof)%


// %Tag(ViewFacing)%
void makeViewFacingMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "view_facing";
        int_marker.description = "View Facing 6-DOF";

        InteractiveMarkerControl control;

        // make a control that rotates around the view axis
        control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        control.orientation.w = 1;
        control.name = "rotate";

        int_marker.controls.push_back(control);

        // create a box in the center which should not be view facing,
        // but move in the camera plane.
        control.orientation_mode = InteractiveMarkerControl::VIEW_FACING;
        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        control.independent_marker_orientation = true;
        control.name = "move";

        control.markers.push_back( makeBox(int_marker) );
        control.always_visible = true;

        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(ViewFacing)%


// %Tag(Quadrocopter)%
void makeQuadrocopterMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "quadrocopter";
        int_marker.description = "Quadrocopter";

        makeBoxControl(int_marker);

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE;
        int_marker.controls.push_back(control);
        control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(Quadrocopter)%

// %Tag(ChessPiece)%
void makeChessPieceMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/base_link";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "chess_piece";
        int_marker.description = "Chess Piece\n(2D Move + Alignment)";

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 0;
        control.orientation.y = 1;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        int_marker.controls.push_back(control);

        // make a box which also moves in the plane
        control.markers.push_back( makeBox(int_marker) );
        control.always_visible = true;
        int_marker.controls.push_back(control);

        // we want to use our special callback function
        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);

        // set different callback for POSE_UPDATE feedback
        server->setCallback(int_marker.name, &alignMarker, visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE );
}
// %EndTag(ChessPiece)%

// %Tag(PanTilt)%
void makePanTiltMarker( )
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/atc/laser/roof_rotating/base";
        //int_marker.header.frame_id = "/atc/vehicle/center_bumper";
        int_marker.pose.position.x = 0;
        int_marker.pose.position.y = 0;
        int_marker.pose.position.z = 0; int_marker.scale = 0.4;

        int_marker.name = "shaft";
        int_marker.description = " Laser3D control";

        //makeBoxControl(int_marker);

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        control.orientation_mode = InteractiveMarkerControl::FIXED;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(PanTilt)%

// %Tag(Menu)%
void makeMenuMarker()
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/atc/laser/roof_rotating/base";
        //int_marker.header.frame_id = "/atc/vehicle/center_bumper";
        int_marker.pose.position.x = 0;
        int_marker.pose.position.y = 0;
        int_marker.pose.position.z = 0;
        int_marker.scale = 0.4;

        int_marker.name = "context_menu";
        int_marker.description = "Context Menu\n(Right Click)";

        InteractiveMarkerControl control;

        // make one control using default visuals
        control.interaction_mode = InteractiveMarkerControl::MENU;
        control.description="Options";
        control.name = "menu_only_control";
        int_marker.controls.push_back(control);

        // make one control showing a box
        //Marker marker = makeBox( int_marker );
        //control.markers.push_back( marker );
        control.always_visible = true;
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
//      setCallback (const std::string &name, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)
        
        menu_handler.apply( *server, int_marker.name );
}
// %EndTag(Menu)%

// %Tag(Moving)%
void makeMovingMarker()
{
        InteractiveMarker int_marker;
        int_marker.header.frame_id = "/moving_frame";
        int_marker.pose.position.y = -3.0 * marker_pos++;;
        int_marker.scale = 1;

        int_marker.name = "moving";
        int_marker.description = "Marker Attached to a\nMoving Frame";

        InteractiveMarkerControl control;

        control.orientation.w = 1;
        control.orientation.x = 1;
        control.orientation.y = 0;
        control.orientation.z = 0;
        control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS;
        int_marker.controls.push_back(control);

        control.interaction_mode = InteractiveMarkerControl::MOVE_PLANE;
        control.always_visible = true;
        control.markers.push_back( makeBox(int_marker) );
        int_marker.controls.push_back(control);

        server->insert(int_marker);
        server->setCallback(int_marker.name, &processFeedback);
}
// %EndTag(Moving)%

// %Tag(main)%
int main(int argc, char** argv)
{
        ros::init(argc, argv, "laser3d_interactive_control_node");
        ros::NodeHandle n;

        //declare the publisher
        pub = n.advertise<sensor_msgs::JointState>("cmd", 1);


        // create a timer to update the published transforms
        //ros::Timer frame_timer = n.createTimer(ros::Duration(0.01), frameCallback);

        server.reset( new interactive_markers::InteractiveMarkerServer("imarker","",false) );

        ros::Duration(0.1).sleep();


        menu_handler.insert( "Position control", &processFeedback );
        interactive_markers::MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Speed control" );
        menu_handler.insert( sub_menu_handle, "30 RPM", &processFeedback );
        menu_handler.insert( sub_menu_handle, "60 RPM", &processFeedback );

        //make6DofMarker( false );
        //make6DofMarker( true );
        //makeRandomDofMarker( );
        //makeViewFacingMarker( );
        //makeQuadrocopterMarker( );
        //makeChessPieceMarker( );
        makePanTiltMarker( );
        makeMenuMarker( );
        //makeMovingMarker( );

        server->applyChanges();

        ros::spin();

        server.reset();
}
// %EndTag(main)%