Pulls out RViz support into a separate package. (#66)

cartographer_ros/CMakeLists.txt

@@ -21,11 +21,11 @@ set(PACKAGE_DEPENDENCIES
   geometry_msgs
   cartographer_ros_msgs
   roscpp
-  rviz
   sensor_msgs
   nav_msgs
   tf2
   tf2_eigen
+  tf2_ros
 )
 
 set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
@@ -70,18 +70,6 @@ link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
 find_package(ZLIB REQUIRED)
 include_directories(${ZLIB_INCLUDE_DIRS})
 
-set(CMAKE_AUTOMOC ON)
-if(rviz_QT_VERSION VERSION_LESS "5")
-  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
-  include(${QT_USE_FILE})
-else()
-  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
-  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
-  set(QT_LIBRARIES Qt5::Widgets)
-endif()
-add_definitions(-DQT_NO_KEYWORDS)
-
 find_package(Boost REQUIRED
  COMPONENTS
  system
@@ -95,7 +83,6 @@ add_executable(cartographer_node
   src/cartographer_node_main.cc
   src/msg_conversion.cc
   src/msg_conversion.h
-  src/node_constants.h
   src/sensor_data.cc
   src/sensor_data.h
   src/sensor_data_producer.cc
@@ -105,45 +92,24 @@ add_executable(cartographer_node
 )
 target_link_libraries(cartographer_node
   ${CARTOGRAPHER_LIBRARIES}
-  ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
-  gflags  # TODO(whess): Use or remove gflags_catkin.
+  ${catkin_LIBRARIES}
+  gflags  # TODO(whess): CMake-ify?
 )
 add_dependencies(cartographer_node
   ${catkin_EXPORTED_TARGETS}
 )
 
-add_library(cartographer_rviz_submaps_visualization
-  src/drawable_submap.cc
-  src/drawable_submap.h
-  src/node_constants.h
-  src/submaps_display.cc
-  src/submaps_display.h
-)
-target_link_libraries(cartographer_rviz_submaps_visualization
-  ${Boost_LIBRARIES}
-  ${CARTOGRAPHER_LIBRARIES}
-  ${catkin_LIBRARIES}
-  ${QT_LIBRARIES}
-  ${ZLIB_LIBRARIES}
-)
-
-add_dependencies(cartographer_rviz_submaps_visualization
-  ${catkin_EXPORTED_TARGETS}
-)
-
 catkin_add_gtest(time_conversion_test
   src/time_conversion_test.cc
   src/time_conversion.h
   src/time_conversion.cc
 )
-
 target_link_libraries(time_conversion_test
-  ${GTEST_BOTH_LIBRARIES}
   ${CARTOGRAPHER_LIBRARIES}
+  ${GTEST_BOTH_LIBRARIES}
   ${catkin_LIBRARIES}
 )
-
 add_dependencies(time_conversion_test
   ${catkin_EXPORTED_TARGETS}
 )
@@ -160,18 +126,8 @@ install(DIRECTORY configuration_files/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/configuration_files/
 )
 
-install(TARGETS
+install(TARGETS cartographer_node
-  cartographer_rviz_submaps_visualization cartographer_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
-
-install(FILES
-  rviz_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-install(DIRECTORY ogre_media/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ogre_media
-)

cartographer_ros/package.xml

@@ -45,22 +45,17 @@
   <depend>rosbag</depend>
   <depend>roscpp</depend>
   <depend>roslib</depend>
-  <depend>rviz</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
-  <depend>visualization_msgs</depend>
+  <depend>tf2_ros</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>eigen_conversions</depend>
   <depend>message_runtime</depend>
-  <depend>qtbase5-dev</depend>
-  <depend>libqt5-core</depend>
-  <depend>libqt5-gui</depend>
-  <depend>libqt5-widgets</depend>
 
   <test_depend>rosunit</test_depend>
 

cartographer_ros/src/cartographer_node_main.cc

@@ -64,7 +64,6 @@
 #include "tf2_ros/transform_listener.h"
 
 #include "msg_conversion.h"
-#include "node_constants.h"
 #include "sensor_data.h"
 #include "sensor_data_producer.h"
 #include "time_conversion.h"
@@ -99,6 +98,8 @@ constexpr char kImuTopic[] = "imu";
 constexpr char kOdometryTopic[] = "odom";
 constexpr char kOccupancyGridTopic[] = "map";
 constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
+constexpr char kSubmapListTopic[] = "submap_list";
+constexpr char kSubmapQueryServiceName[] = "submap_query";
 
 struct NodeOptions {
   carto::mapping::proto::MapBuilderOptions map_builder_options;

cartographer_ros/src/node_constants.h

@@ -1,31 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_NODE_CONSTANTS_H_
-#define CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_NODE_CONSTANTS_H_
-
-namespace cartographer_ros {
-
-// The topic that the node will subscribe to.
-constexpr char kSubmapListTopic[] = "submap_list";
-
-// The service we serve in the Node and query in the RViz plugin for submap
-// which are used for visualization.
-constexpr char kSubmapQueryServiceName[] = "submap_query";
-
-}  // namespace cartographer_ros
-
-#endif  // CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_NODE_CONSTANTS_H_

cartographer_rviz/CMakeLists.txt

@@ -0,0 +1,110 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 2.8)
+
+project(cartographer_rviz)
+
+set(PACKAGE_DEPENDENCIES
+  cartographer_ros_msgs
+  eigen_conversions
+  roscpp
+  rviz
+)
+
+set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
+
+if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+if(CMAKE_BUILD_TYPE STREQUAL "Release")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
+elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
+elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
+  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
+else()
+  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
+endif()
+
+message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+
+find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
+include_directories(${catkin_INCLUDE_DIRS})
+
+catkin_package(
+  CATKIN_DEPENDS
+    message_runtime
+    ${PACKAGE_DEPENDENCIES}
+)
+
+find_package(cartographer REQUIRED)
+include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
+link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
+
+find_package(ZLIB REQUIRED)
+include_directories(${ZLIB_INCLUDE_DIRS})
+
+set(CMAKE_AUTOMOC ON)
+if(rviz_QT_VERSION VERSION_LESS "5")
+  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
+  include(${QT_USE_FILE})
+else()
+  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
+  set(QT_LIBRARIES Qt5::Widgets)
+endif()
+add_definitions(-DQT_NO_KEYWORDS)
+
+find_package(Boost REQUIRED
+ COMPONENTS
+ system
+ iostreams
+)
+add_definitions(${BOOST_DEFINITIONS})
+include_directories(${Boost_INCLUDE_DIRS})
+link_directories(${Boost_LIBRARY_DIRS})
+
+add_library(cartographer_rviz_submaps_visualization
+  src/drawable_submap.cc
+  src/drawable_submap.h
+  src/submaps_display.cc
+  src/submaps_display.h
+)
+target_link_libraries(cartographer_rviz_submaps_visualization
+  ${Boost_LIBRARIES}
+  ${CARTOGRAPHER_LIBRARIES}
+  ${QT_LIBRARIES}
+  ${ZLIB_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+add_dependencies(cartographer_rviz_submaps_visualization
+  ${catkin_EXPORTED_TARGETS}
+)
+
+install(TARGETS cartographer_rviz_submaps_visualization
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES rviz_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY ogre_media/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ogre_media
+)

cartographer_rviz/package.xml

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<package format="2">
+  <name>cartographer_rviz</name>
+  <version>1.0.0</version>
+  <description>
+    Cartographer is a system that provides real-time simultaneous localization
+    and mapping SLAM across multiple platforms and sensor configurations. This
+    package provides Cartographer's RViz integration.
+  </description>
+  <maintainer email="google-cartographer@googlegroups.com">
+    The Cartographer Authors
+  </maintainer>
+  <license>Apache 2.0</license>
+
+  <url>https://github.com/googlecartographer/cartographer_ros</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>g++-static</build_depend>
+
+  <depend>cartographer</depend>
+  <depend>cartographer_ros_msgs</depend>
+
+  <depend>eigen_conversions</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>message_runtime</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>rviz</depend>
+
+  <export>
+      <rviz plugin="${prefix}/rviz_plugin_description.xml" />
+  </export>
+</package>

cartographer_rviz/rviz_plugin_description.xml

@@ -16,7 +16,7 @@
 
 <library path="lib/libcartographer_rviz_submaps_visualization">
   <class name="Submaps"
-         type="cartographer_ros::rviz::SubmapsDisplay"
+         type="cartographer_rviz::SubmapsDisplay"
          base_class_type="rviz::Display">
     <description>
       Displays submaps as a unified map in RViz.

cartographer_rviz/src/drawable_submap.cc

@@ -30,8 +30,7 @@
 #include <sstream>
 #include <string>
 
-namespace cartographer_ros {
+namespace cartographer_rviz {
-namespace rviz {
 
 namespace {
 
@@ -237,5 +236,4 @@ float DrawableSubmap::UpdateAlpha(const float target_alpha) {
   return current_alpha_;
 }
 
-}  // namespace rviz
+}  // namespace cartographer_rviz
-}  // namespace cartographer_ros

cartographer_rviz/src/drawable_submap.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_DRAWABLE_SUBMAP_H_
+#ifndef CARTOGRAPHER_RVIZ_SRC_DRAWABLE_SUBMAP_H_
-#define CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_DRAWABLE_SUBMAP_H_
+#define CARTOGRAPHER_RVIZ_SRC_DRAWABLE_SUBMAP_H_
 
 #include <OgreManualObject.h>
 #include <OgreMaterial.h>
@@ -35,8 +35,7 @@
 
 #include <future>
 
-namespace cartographer_ros {
+namespace cartographer_rviz {
-namespace rviz {
 
 // Contains all the information needed to render a submap onto the final
 // texture representing the whole map.
@@ -103,7 +102,6 @@ class DrawableSubmap : public QObject {
   float current_alpha_ = 0.f;
 };
 
-}  // namespace rviz
+}  // namespace cartographer_rviz
-}  // namespace cartographer_ros
 
-#endif  // CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_DRAWABLE_SUBMAP_H_
+#endif  // CARTOGRAPHER_RVIZ_SRC_DRAWABLE_SUBMAP_H_

cartographer_rviz/src/submaps_display.cc

@@ -29,10 +29,7 @@
 #include <rviz/frame_manager.h>
 #include <rviz/properties/string_property.h>
 
-#include "node_constants.h"
+namespace cartographer_rviz {
-
-namespace cartographer_ros {
-namespace rviz {
 
 namespace {
 
@@ -42,12 +39,13 @@ constexpr char kGlsl120Directory[] = "/glsl120";
 constexpr char kScriptsDirectory[] = "/scripts";
 constexpr char kDefaultMapFrame[] = "map";
 constexpr char kDefaultTrackingFrame[] = "base_link";
+constexpr char kDefaultSubmapQueryServiceName[] = "/submap_query";
 
 }  // namespace
 
 SubmapsDisplay::SubmapsDisplay() : tf_listener_(tf_buffer_) {
   submap_query_service_property_ = new ::rviz::StringProperty(
-      "Submap query service", QString("/") + kSubmapQueryServiceName,
+      "Submap query service", kDefaultSubmapQueryServiceName,
       "Submap query service to connect to.", this, SLOT(Reset()));
   map_frame_property_ = new ::rviz::StringProperty(
       "Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.",
@@ -149,7 +147,6 @@ void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
   }
 }
 
-}  // namespace rviz
+}  // namespace cartographer_rviz
-}  // namespace cartographer_ros
 
-PLUGINLIB_EXPORT_CLASS(cartographer_ros::rviz::SubmapsDisplay, ::rviz::Display)
+PLUGINLIB_EXPORT_CLASS(cartographer_rviz::SubmapsDisplay, ::rviz::Display)

cartographer_rviz/src/submaps_display.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_SUBMAPS_DISPLAY_H_
+#ifndef CARTOGRAPHER_RVIZ_SRC_SUBMAPS_DISPLAY_H_
-#define CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_SUBMAPS_DISPLAY_H_
+#define CARTOGRAPHER_RVIZ_SRC_SUBMAPS_DISPLAY_H_
 
 #include <cartographer/common/mutex.h>
 #include <cartographer/common/port.h>
@@ -29,8 +29,7 @@
 
 #include "drawable_submap.h"
 
-namespace cartographer_ros {
+namespace cartographer_rviz {
-namespace rviz {
 
 // RViz plugin used for displaying maps which are represented by a collection of
 // submaps.
@@ -72,7 +71,6 @@ class SubmapsDisplay
   ::cartographer::common::Mutex mutex_;
 };
 
-}  // namespace rviz
+}  // namespace cartographer_rviz
-}  // namespace cartographer_ros
 
-#endif  // CARTOGRAPHER_ROS_GOOGLE_CARTOGRAPHER_SRC_SUBMAPS_DISPLAY_H_
+#endif  // CARTOGRAPHER_RVIZ_SRC_SUBMAPS_DISPLAY_H_