Add plotter 2D for arbitrary message types and fields

README.md

@@ -13,7 +13,8 @@ both usage information and source code documentation.
 
 ![Screenshot showing the PieChartDisplay, a circular gauge](rviz_2d_overlay_plugins/doc/screenshot_PieChartDisplay.png)
 
+![Screenshot showing the Plotter2dDisplay, a plotter](rviz_2d_overlay_plugins/doc/screenshot_plotter_2d.png)
 
-```
+```bash
 colcon build --packages-select rviz_2d_overlay_msgs rviz_2d_overlay_plugins
-```
+```

rviz_2d_overlay_plugins/CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED)
 
 find_package(rviz_2d_overlay_msgs REQUIRED)
 
+find_package(ros_babel_fish REQUIRED)
 find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
@@ -15,6 +16,7 @@ set(
         headers_to_moc
         include/overlay_text_display.hpp
         include/pie_chart_display.h
+        include/plotter_2d_display.hpp
 )
 
 foreach (header "${headers_to_moc}")
@@ -26,6 +28,7 @@ set(
         src/overlay_text_display.cpp
         src/overlay_utils.cpp
         src/pie_chart_display.cpp
+        src/plotter_2d_display.cpp
 )
 
 add_executable(string_to_overlay_text src/string_to_overlay_text.cpp)
@@ -66,6 +69,7 @@ pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 ament_target_dependencies(
         ${PROJECT_NAME}
         PUBLIC
+        ros_babel_fish
         rviz_common
         rviz_rendering
         rviz_2d_overlay_msgs

rviz_2d_overlay_plugins/include/plotter_2d_display.hpp

@@ -0,0 +1,181 @@
+// -*- mode: c++; -*-
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, rcp1
+ *  Copyright (c) 2014, JSK Lab
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the JSK Lab nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+#ifndef JSK_RVIZ_PLUGIN_PLOTTER_2D_HPP_
+#define JSK_RVIZ_PLUGIN_PLOTTER_2D_HPP_
+
+#include <mutex>
+
+#include "ros_babel_fish_topic_display.hpp"
+#include "std_msgs/msg/float32.hpp"
+#ifndef Q_MOC_RUN
+  #include <rviz_common/display.hpp>
+  #include "overlay_utils.hpp"
+  #include <OgreColourValue.h>
+  #include <OgreTexture.h>
+  #include <OgreMaterial.h>
+  #include <rviz_common/properties/bool_property.hpp>
+  #include <rviz_common/properties/color_property.hpp>
+  #include <rviz_common/properties/float_property.hpp>
+  #include <rviz_common/properties/int_property.hpp>
+  #include <rviz_common/properties/string_property.hpp>
+  #include <rviz_common/properties/ros_topic_property.hpp>
+#endif
+
+namespace rviz_2d_overlay_plugins
+{
+
+  class Plotter2DDisplay
+    : public RosBabelFishTopicDisplay
+  {
+    Q_OBJECT
+  public:
+    Plotter2DDisplay();
+    virtual ~Plotter2DDisplay();
+    // methods for OverlayPickerTool
+    virtual bool isInRegion(int x, int y);
+    virtual void movePosition(int x, int y);
+    virtual void setPosition(int x, int y);
+    virtual int getX() const { return left_; };
+    virtual int getY() const { return top_; };
+  protected:
+    ////////////////////////////////////////////////////////
+    // methods
+    ////////////////////////////////////////////////////////
+    virtual void update(float wall_dt, float ros_dt);
+    virtual void onEnable();
+    virtual void onDisable();
+    virtual void initializeBuffer();
+    virtual void onInitialize();
+    virtual double recurseToField(const ros_babel_fish::Message & msg, size_t topic_field_idx);
+    virtual void processMessage(ros_babel_fish::CompoundMessage::ConstSharedPtr msg) override;
+    virtual void drawPlot();
+    ////////////////////////////////////////////////////////
+    // properties
+    ////////////////////////////////////////////////////////
+    std::unique_ptr<rviz_common::properties::StringProperty> topic_message_type_property_;
+    std::unique_ptr<rviz_common::properties::StringProperty> topic_field_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> show_value_property_;
+    std::unique_ptr<rviz_common::properties::ColorProperty> fg_color_property_;
+    std::unique_ptr<rviz_common::properties::ColorProperty> bg_color_property_;
+    std::unique_ptr<rviz_common::properties::FloatProperty> fg_alpha_property_;
+    std::unique_ptr<rviz_common::properties::FloatProperty> bg_alpha_property_;
+    std::unique_ptr<rviz_common::properties::FloatProperty> update_interval_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> show_border_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> buffer_length_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> width_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> height_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> left_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> top_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> line_width_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> auto_color_change_property_;
+    std::unique_ptr<rviz_common::properties::ColorProperty> max_color_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> show_caption_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> text_size_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> auto_scale_property_;
+    std::unique_ptr<rviz_common::properties::FloatProperty> max_value_property_;
+    std::unique_ptr<rviz_common::properties::FloatProperty> min_value_property_;
+    std::unique_ptr<rviz_common::properties::BoolProperty> auto_text_size_in_plot_property_;
+    std::unique_ptr<rviz_common::properties::IntProperty> text_size_in_plot_property_;
+
+    QString topic_message_type_;
+    std::string topic_field_;
+    std::vector<std::string> topic_fields_;
+    rviz_2d_overlay_plugins::OverlayObject::SharedPtr overlay_;
+    QColor fg_color_;
+    QColor max_color_;
+    QColor bg_color_;
+
+    double fg_alpha_;
+    double bg_alpha_;
+    bool auto_scale_;
+    bool show_border_;
+    bool auto_color_change_;
+    bool show_value_;
+    bool show_caption_;
+    bool draw_required_;
+    float last_time_;
+    float update_interval_;
+    bool auto_text_size_in_plot_;
+    int text_size_in_plot_;
+
+    int buffer_length_;
+    std::vector<double> buffer_;
+    uint16_t texture_width_;
+    uint16_t texture_height_;
+    int left_;
+    int top_;
+    int line_width_;
+    int text_size_;
+    int caption_offset_;
+    double min_value_;
+    double max_value_;
+
+    ////////////////////////////////////////////////////////
+    // ROS variables
+    ////////////////////////////////////////////////////////
+    std::mutex mutex_;
+
+  protected Q_SLOTS:
+    void updateTopicMessageType();
+    void updateTopicField();
+    void updateShowValue();
+    void updateBufferSize();
+    void updateBGColor();
+    void updateFGColor();
+    void updateFGAlpha();
+    void updateBGAlpha();
+    void updateWidth();
+    void updateHeight();
+    void updateTop();
+    void updateLeft();
+    void updateLineWidth();
+    void updateShowBorder();
+    void updateAutoColorChange();
+    void updateMaxColor();
+    void updateUpdateInterval();
+    void updateShowCaption();
+    void updateTextSize();
+    void updateAutoScale();
+    void updateMinValue();
+    void updateMaxValue();
+    void updateTextSizeInPlot();
+    void updateAutoTextSizeInPlot();
+
+  private:
+  };
+}  // namespace rviz_2d_overlay_plugins
+
+#endif  // JSK_RVIZ_PLUGIN_PLOTTER_2D_HPP_