Remove keyboard depend

CMakeLists.txt

@@ -5,9 +5,9 @@ project(tf_keyboard_cal)
 set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}")
 
 find_package(catkin REQUIRED COMPONENTS
-  keyboard
   roscpp
   tf2
+  tf2_msgs
   tf
   roslib
   roslint
@@ -16,76 +16,106 @@ find_package(catkin REQUIRED COMPONENTS
   rviz_visual_tools
   tf_conversions
   interactive_markers
+  rviz
+  std_msgs
+  geometry_msgs
 )
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# Eigen 3.2 (Wily) only provides EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
 find_package(Boost REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
-    include
+  include
   LIBRARIES
-    ${PROJECT_NAME}_manual_tf_alignment
-    ${PROJECT_NAME}_imarker_simple
+  ${PROJECT_NAME}_gui
+#    ${PROJECT_NAME}_manual_tf_alignment
+#    ${PROJECT_NAME}_imarker_simple
   CATKIN_DEPENDS
-    keyboard roscpp
+  #  keyboard
+    message_runtime
+    roscpp
     tf2
     tf
     rosparam_shortcuts
     interactive_markers
   DEPENDS
-    Eigen
+    EIGEN3
 )
 
-###########
-## Build ##
-###########
+# Qt 4 or 5
+if(rviz_QT_VERSION VERSION_LESS "5")
+  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
+  include(${QT_USE_FILE})
+  macro(qt_wrap_ui)
+    qt4_wrap_ui(${ARGN})
+  endmacro()
+  macro(qt_wrap_cpp)
+    qt4_wrap_cpp(${ARGN})
+  endmacro()
+else()
+  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
+  find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+  set(QT_LIBRARIES Qt5::Widgets)
+  macro(qt_wrap_ui)
+    qt5_wrap_ui(${ARGN})
+  endmacro()
+  macro(qt_wrap_cpp)
+    qt5_wrap_cpp(${ARGN})
+  endmacro()
+endif()
+## Prefer the Qt signals and slots to avoid defining "emit", "slots",
+## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+add_definitions(-DQT_NO_KEYWORDS)
 
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIR}
-  ${EIGEN_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
-# Library
-add_library(${PROJECT_NAME}_manual_tf_alignment
-  src/manual_tf_alignment.cpp
-)
-target_link_libraries(${PROJECT_NAME}_manual_tf_alignment
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
-)
+###########
+## Build ##
+###########
 
-# Library
-add_library(${PROJECT_NAME}_imarker_simple
-  src/imarker_simple.cpp
+## specify which header files need to be run through "moc",
+## Qt's meta-object compiler.
+qt_wrap_cpp(MOC_FILES
+  src/tf_keyboard_cal_gui.h
 )
-target_link_libraries(${PROJECT_NAME}_imarker_simple
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
+
+## specify the list of source files, including the output of
+## the previous command which is stored in ``${MOC_FILES}``.
+set(SOURCE_FILES
+  src/tf_keyboard_cal_gui.cpp
 )
 
-# Executable
+add_library(${PROJECT_NAME}_receiver src/tf_remote_receiver.cpp)
+target_link_libraries(${PROJECT_NAME}_receiver ${catkin_LIBRARIES})
+
+add_library(${PROJECT_NAME}_gui ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME}_gui ${PROJECT_NAME}_receiver ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${QT_LIBRARIES} ${catkin_LIBRARIES})
+
+add_library(${PROJECT_NAME}_rviz_publisher
+  src/rviz_tf_publisher.cpp)
+target_link_libraries(${PROJECT_NAME}_rviz_publisher
+  ${catkin_LIBRARIES})
+
 add_executable(${PROJECT_NAME}
-  src/tf_keyboard.cpp
-)
+  src/tf_keyboard.cpp)
 target_link_libraries(${PROJECT_NAME}
-  ${PROJECT_NAME}_manual_tf_alignment
-  ${catkin_LIBRARIES}
-)
-
-# Executable
-add_executable(${PROJECT_NAME}_demo_tf_listener
-  src/demo_tf_listener.cpp
-)
-# Rename C++ executable without namespace
-set_target_properties(${PROJECT_NAME}_demo_tf_listener
-  PROPERTIES OUTPUT_NAME demo_tf_listener PREFIX "")
-# Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_demo_tf_listener
-  ${catkin_LIBRARIES}
-)
+  ${PROJECT_NAME}_rviz_publisher
+  ${catkin_LIBRARIES})
 
 #############
 ## Testing ##
@@ -99,26 +129,28 @@ roslint_cpp()
 #############
 
 # Install libraries
-install(TARGETS ${PROJECT_NAME}_manual_tf_alignment ${PROJECT_NAME}_imarker_simple
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+install(
+  TARGETS
+  ${PROJECT_NAME}_gui
+  LIBRARY DESTINATION
+  ${CATKIN_PACKAGE_LIB_DESTINATION}
+  )
 
 # Install header files
-install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+# Install shared resources
+install(DIRECTORY launch    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# Install xml plugin config
+install(FILES
+  plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
 
 # Install executables
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_demo_tf_listener
+install(TARGETS
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-# Install scripts
-install(PROGRAMS
-  scripts/tf_interactive_marker.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-# Install launch files
-install(DIRECTORY
-  launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+  )

README.md → README.old

@@ -1,3 +1,13 @@
+# NEW BRANCH
+
+```
+roslaunch tf_keyboard_cal rviz_demo.launch
+```
+
+In `rviz` add the tf panel by: `Panel -> Add New Panel ->TFKeyboardCalGUI`
+
+
+
 # Manual TF Calibration Tools
 
 Move /tf frames around using your keyboard or interactive markers - a simple calibration-by-eye tool!

bug_notes.md

@@ -0,0 +1,27 @@
+# Bugs and Issues
+
+Notes on bugs and issues seen during development.
+
+## 1. Interactive Marker Reset
+
+If you select `Enable Transparancy` under the Interactive Marker topic in Rviz BEFORE using the GUI buttons to adjust the marker's position, the marker will reset back to its origin. Once you adjust the marker through the GUI this problem seems to disappear.
+
+## 2. Interactive Markers Branching from non Interactive Marker
+
+If a TF is defined without an interactive marker and then a TF with is interactive marker is defined as a child of that, the interactive marker does not update properly when using the keyboard commands.
+
+There seems to be a disconnect between the values of the imarker and the active tfs list.
+
+### Fix
+
+Seems that `active_tf_list_.push_back(new_tf)` was being called before `.imarker_ = true` was called. This appears to have solved the errors.
+
+## 3. Large Decimals
+
+On the `manipulate` tab, dragging the interactive marker causes large decimals. Need to display these only to 2 or 3 significant digits.
+
+## 4. When `has menu` is ticked, tick `imarker` checkbox.
+
+## 5. Multiple TFs with same name
+
+Need to not allow user to create multiple TFs with same `to` and `from`, or create loops in TF tree. 

config/example_imarker_menu.tf

@@ -0,0 +1,15 @@
+# example menu file
+# (shebang anywhere in line comments line)
+# FORMAT: (supports only 1 sub level, sub menus cannot have sub menus) 
+# (num sub menus), menu title 
+# submenu title
+# very little error checking done... so check your input.
+3, menu item A
+sub entry 1
+sub entry 2
+sub entry 3
+0, menu item B
+0, menu item C
+2, menu item D
+sub entry 1
+sub entry 2

config/example_save_file.tf

@@ -0,0 +1,11 @@
+#ID FRAME_ID CHILD_FRAME_ID X Y Z ROLL PITCH YAW
+# (comment line)
+# space delimeter
+0 a b 0.50 1.50 0.50 0.00 0.00 0.00
+1 b c 1.00 0.00 1.00 0.00 0.00 0.00
+2 b d 0.50 1.50 1.50 0.00 0.00 0.00
+3 d e 1.00 -3.00 1.00 0.00 0.00 0.00
+4 e f 1.00 3.00 1.00 0.00 0.00 0.00
+5 f g 1.00 -3.00 1.00 0.00 0.00 0.00
+6 g h 1.00 3.00 1.00 0.00 0.00 0.00
+7 h i 1.00 -3.00 1.00 0.00 0.00 0.00