Merge pull request #4 from NUS-Advanced-Robotics-Centre/respawn_objects

New Version for Spring 2024

Author: SS47816

README.md

@@ -10,7 +10,7 @@ NUS ME5413 Autonomous Mobile Robotics Final Project
 ![GitHub Repo stars](https://img.shields.io/github/stars/NUS-Advanced-Robotics-Centre/ME5413_Final_Project?color=FFE333)
 ![GitHub Repo forks](https://img.shields.io/github/forks/NUS-Advanced-Robotics-Centre/ME5413_Final_Project?color=FFE333)
 
-![cover_image](src/me5413_world/media/gazebo_world.jpg)
+![cover_image](src/me5413_world/media/gazebo_world.png)
 
 ## Dependencies
 
@@ -164,7 +164,7 @@ roslaunch me5413_world navigation.launch
 
 * From the starting point, move to the given pose within each area in sequence
   * Assembly Line 1, 2
-  * Packaging Area 1, 2, 3, 4
+  * Random Box 1, 2, 3, 4
   * Delivery Vehicle 1, 2, 3
 * We have provided you a GUI in RVIZ that allows you to click and publish these given goal poses to the `/move_base_simple/goal` topic:
 

src/interactive_tools/include/interactive_tools/rviz_panel.hpp

@@ -1,91 +1,86 @@
+/* rviz_panel.hpp
+
+ * Copyright (C) 2023 SS47816
+
+ * Rviz Panel for controling goal poses
+
+**/
+
 #ifndef rviz_panel_H_
 #define rviz_panel_H_
 
 #include <ros/ros.h>
 #include <rviz/panel.h>
-
-/** 
+#include <ui_simple_panel.h>
+/**
  *  Include header generated from ui file
  *  Note that you will need to use add_library function first
  *  in order to generate the header file from ui.
  */
-#include <ui_simple_panel.h>
 
-// Other ROS dependencies
+#include <std_msgs/Int16.h>
 #include <std_msgs/String.h>
 
 namespace rviz_panel
 {
-    /**
-     *  Here we declare our new subclass of rviz::Panel. Every panel which
-     *  can be added via the Panels/Add_New_Panel menu is a subclass of
-     *  rviz::Panel.
-     */
-
-    class simplePanel : public rviz::Panel
-    {
-        /**
-         * This class uses Qt slots and is a subclass of QObject, so it needs
-         * the Q_OBJECT macro.
-         */
-        Q_OBJECT
-
-        public:
-            #ifdef UNIT_TEST
-                friend class testClass;
-            #endif
-            /**
-             *  QWidget subclass constructors usually take a parent widget
-             *  parameter (which usually defaults to 0).  At the same time,
-             *  pluginlib::ClassLoader creates instances by calling the default
-             *  constructor (with no arguments). Taking the parameter and giving
-             *  a default of 0 lets the default constructor work and also lets
-             *  someone using the class for something else to pass in a parent
-             *  widget as they normally would with Qt.
-             */
-            simplePanel(QWidget * parent = 0);
+class simplePanel : public rviz::Panel
+{
+  Q_OBJECT
 
-            /**
-             *  Now we declare overrides of rviz::Panel functions for saving and
-             *  loading data from the config file.  Here the data is the topic name.
-             */
-            virtual void save(rviz::Config config) const;
-            virtual void load(const rviz::Config & config);
+ public:
+  #ifdef UNIT_TEST
+    friend class testClass;
+  #endif
+  /**
+   *  QWidget subclass constructors usually take a parent widget
+   *  parameter (which usually defaults to 0).  At the same time,
+   *  pluginlib::ClassLoader creates instances by calling the default
+   *  constructor (with no arguments). Taking the parameter and giving
+   *  a default of 0 lets the default constructor work and also lets
+   *  someone using the class for something else to pass in a parent
+   *  widget as they normally would with Qt.
+   */
+  simplePanel(QWidget *parent = 0);
 
-        /**
-         *  Next come a couple of public Qt Slots.
-         */
-        public Q_SLOTS:
+  /**
+   *  Now we declare overrides of rviz::Panel functions for saving and
+   *  loading data from the config file.  Here the data is the topic name.
+   */
+  virtual void save(rviz::Config config) const;
+  virtual void load(const rviz::Config &config);
 
-        /**
-         *  Here we declare some internal slots.
-         */
-        private Q_SLOTS:
-            // Assembly Line buttons
-            void on_button_1_1_clicked();
-            void on_button_1_2_clicked();
-            // Packaging Area buttons
-            void on_button_2_1_clicked();
-            void on_button_2_2_clicked();
-            void on_button_2_3_clicked();
-            void on_button_2_4_clicked();
-            // Delivery Vehicle buttons
-            void on_button_3_1_clicked();
-            void on_button_3_2_clicked();
-            void on_button_3_3_clicked();
+  public Q_SLOTS:
+  /**
+   *  Here we declare some internal slots.
+   */
+  private Q_SLOTS:
+    // Assembly Line buttons
+    void on_button_1_1_clicked();
+    void on_button_1_2_clicked();
+    // Packaging Area buttons
+    void on_button_2_1_clicked();
+    void on_button_2_2_clicked();
+    void on_button_2_3_clicked();
+    void on_button_2_4_clicked();
+    // Delivery Vehicle buttons
+    void on_button_3_1_clicked();
+    void on_button_3_2_clicked();
+    void on_button_3_3_clicked();
+    // Contorl Buttons
+    void on_button_regen_clicked();
+    void on_button_clear_clicked();
 
-        /**
-         *  Finally, we close up with protected member variables
-         */
-        protected:
-            // UI pointer
-            std::shared_ptr<Ui::two_button> ui_;
-            // ROS declaration
-            ros::NodeHandle nh_;
-            ros::Publisher pub_goal_;
-            std_msgs::String goal_name_msg_;
+ protected:
+  // UI pointer
+  std::shared_ptr<Ui::TaskControlPanel> ui_;
+  // ROS declaration
+  ros::NodeHandle nh_;
+  ros::Publisher pub_goal_;
+  ros::Publisher pub_respawn_;
+  std_msgs::String goal_name_msg_;
+  std_msgs::Int16 regen_cmd_msg_;
+};
 
-    };
 } // namespace rviz_panel
 
 #endif