diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d1fa168..520226a 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,3 +1,7 @@
+0.?.? (2017-??-??)
+------------------
+* Add OctomapServerControl Panel to trigger resetting the octomap from rviz.
+
0.1.0 (2016-07-07)
------------------
* Remove -ldefault_plugin from linker options, fixes `#19 <https://github.com/OctoMap/octomap_rviz_plugins/issues/19>`_
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8aabee..3fe8866 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(octomap_rviz_plugins)
find_package(catkin REQUIRED COMPONENTS octomap_msgs
roscpp
rviz
-
+ std_srvs
)
find_package(octomap REQUIRED)
@@ -38,17 +38,19 @@ link_directories(${catkin_LIBRARY_DIRS}
QT4_WRAP_CPP(MOC_FILES
include/octomap_rviz_plugins/occupancy_grid_display.h
include/octomap_rviz_plugins/occupancy_map_display.h
+ include/octomap_rviz_plugins/octomap_server_control.h
OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_LEXICAL_CAST_INCLUDED
)
set(SOURCE_FILES
src/occupancy_grid_display.cpp
src/occupancy_map_display.cpp
+ src/octomap_server_control.cpp
${MOC_FILES}
)
add_library(${PROJECT_NAME} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${Boost_LIBRARIES} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${Boost_LIBRARIES} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
@@ -63,5 +65,3 @@ install(TARGETS ${PROJECT_NAME}
install(FILES plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
-
-
diff --git a/include/octomap_rviz_plugins/octomap_server_control.h b/include/octomap_rviz_plugins/octomap_server_control.h
new file mode 100644
index 0000000..aa46e19
--- /dev/null
+++ b/include/octomap_rviz_plugins/octomap_server_control.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) 2017, Wolfgang Merkt
+ * 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 Willow Garage, Inc. 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.
+ *
+ * Author: Wolfgang Merkt (wolfgang.merkt@ed.ac.uk)
+ *
+ */
+
+#ifndef RVIZ_OCTOMAP_SERVER_CONTROL_H
+#define RVIZ_OCTOMAP_SERVER_CONTROL_H
+
+#ifndef Q_MOC_RUN
+
+#include <QtGui>
+
+#include <ros/ros.h>
+#include <rviz/panel.h>
+#include <std_srvs/Empty.h>
+
+#endif
+
+namespace octomap_rviz_plugin {
+
+class OctomapServerControl : public rviz::Panel {
+ Q_OBJECT
+
+ public:
+ OctomapServerControl(QWidget* parent = 0);
+
+ protected Q_SLOTS:
+ void resetOctomap();
+
+ protected:
+ QVBoxLayout* vbox_;
+ QPushButton* btnResetOctomap_;
+
+ private:
+ ros::NodeHandle nh_;
+ ros::ServiceClient srvResetOctomap_ =
+ nh_.serviceClient<std_srvs::Empty>("/octomap_server/reset");
+};
+}
+
+#endif
diff --git a/package.xml b/package.xml
index 37c0b46..2061476 100644
--- a/package.xml
+++ b/package.xml
@@ -20,11 +20,13 @@
<build_depend>octomap</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rviz</build_depend>
+ <build_depend>std_srvs</build_depend>
<run_depend>octomap_msgs</run_depend>
<run_depend>octomap</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rviz</run_depend>
+ <run_depend>std_srvs</run_depend>
<export>
<rviz plugin="${prefix}/plugin_description.xml"/>
diff --git a/plugin_description.xml b/plugin_description.xml
index 1bfd643..e21806a 100644
--- a/plugin_description.xml
+++ b/plugin_description.xml
@@ -1,4 +1,3 @@
-
<library path="lib/liboctomap_rviz_plugins">
<class name="octomap_rviz_plugin/OccupancyGrid"
type="OcTreeGridDisplay"
@@ -36,5 +35,11 @@
Displays projected 2D occupancy maps generated from compressed octomap messages.
</description>
</class>
+ <class name="octomap_rviz_plugin/OctomapServerControl"
+ type="OctomapServerControl"
+ base_class_type="rviz::Panel">
+ <description>
+ Buttons to trigger OctomapServer services.
+ </description>
+ </class>
</library>
-
diff --git a/src/octomap_server_control.cpp b/src/octomap_server_control.cpp
new file mode 100644
index 0000000..cf39925
--- /dev/null
+++ b/src/octomap_server_control.cpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2017, Wolfgang Merkt
+ * 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 Willow Garage, Inc. 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.
+ *
+ * Author: Wolfgang Merkt (wolfgang.merkt@ed.ac.uk)
+ *
+ */
+
+#include "octomap_rviz_plugins/octomap_server_control.h"
+
+namespace octomap_rviz_plugin {
+OctomapServerControl::OctomapServerControl(QWidget* parent)
+ : rviz::Panel(parent) {
+ vbox_ = new QVBoxLayout();
+
+ btnResetOctomap_ = new QPushButton(tr("Reset Octomap"));
+ btnResetOctomap_->setSizePolicy(QSizePolicy::Expanding,
+ QSizePolicy::Expanding);
+
+ vbox_->addWidget(btnResetOctomap_);
+
+ connect(btnResetOctomap_, SIGNAL(clicked()), this, SLOT(resetOctomap()));
+
+ setLayout(vbox_);
+}
+
+void OctomapServerControl::resetOctomap() {
+ std_srvs::Empty req;
+ srvResetOctomap_.call(req);
+}
+}
+
+#include <pluginlib/class_list_macros.h>
+
+typedef octomap_rviz_plugin::OctomapServerControl OctomapServerControl;
+PLUGINLIB_EXPORT_CLASS(OctomapServerControl, rviz::Panel)