Add optional parent frame to iMarker (#159)

* Add optional parent frame to iMarker

* Use getIdentityPose()

* Clang format

* Clang tidy

Author: AndyZe

include/rviz_visual_tools/imarker_simple.h

@@ -73,7 +73,8 @@ class IMarkerSimple
 {
 public:
   explicit IMarkerSimple(const std::string& name = "imarker", double scale = 0.2,
-                         const geometry_msgs::Pose& initial_pose = getIdentityPose());
+                         const geometry_msgs::Pose& initial_pose = getIdentityPose(),
+                         const std::string& parent_frame = "world");
 
   geometry_msgs::Pose& getPose();
 
@@ -91,7 +92,8 @@ class IMarkerSimple
 private:
   void sendUpdatedIMarkerPose();
 
-  void make6DofMarker(const geometry_msgs::Pose& pose, double scale = 0.2);
+  void make6DofMarker(const geometry_msgs::Pose& pose = getIdentityPose(), double scale = 0.2,
+                      const std::string& parent_frame = "world");
 
   // --------------------------------------------------------
 

src/imarker_simple.cpp

@@ -42,7 +42,8 @@
 
 namespace rviz_visual_tools
 {
-IMarkerSimple::IMarkerSimple(const std::string& name, double scale, const geometry_msgs::Pose& initial_pose)
+IMarkerSimple::IMarkerSimple(const std::string& name, double scale, const geometry_msgs::Pose& initial_pose,
+                             const std::string& parent_frame)
   : nh_("~"), latest_pose_(initial_pose)
 {
   // Create Marker Server
@@ -52,7 +53,7 @@ IMarkerSimple::IMarkerSimple(const std::string& name, double scale, const geomet
   // ros::Duration(2.0).sleep();
 
   // Create imarker
-  make6DofMarker(latest_pose_, scale);
+  make6DofMarker(latest_pose_, scale, parent_frame);
 
   // Send imarker to Rviz
   imarker_server_->applyChanges();
@@ -97,11 +98,11 @@ void IMarkerSimple::sendUpdatedIMarkerPose()
   imarker_server_->applyChanges();
 }
 
-void IMarkerSimple::make6DofMarker(const geometry_msgs::Pose& pose, double scale)
+void IMarkerSimple::make6DofMarker(const geometry_msgs::Pose& pose, double scale, const std::string& parent_frame)
 {
   ROS_INFO_STREAM_NAMED(name_, "Making 6dof interactive marker named " << name_);
 
-  int_marker_.header.frame_id = "world";
+  int_marker_.header.frame_id = parent_frame;
   int_marker_.pose = pose;
   int_marker_.scale = scale;
 

src/key_tool.h

@@ -47,15 +47,15 @@ class KeyTool : public rviz::Tool
   Q_OBJECT
 public:
   KeyTool();
-  virtual ~KeyTool();
+  ~KeyTool() override;
 
-  virtual void onInitialize();
+  void onInitialize() override;
 
-  virtual void activate();
-  virtual void deactivate();
+  void activate() override;
+  void deactivate() override;
 
-  virtual int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel);
-  virtual int processMouseEvent(rviz::ViewportMouseEvent& event);
+  int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel) override;
+  int processMouseEvent(rviz::ViewportMouseEvent& event) override;
 
 public Q_SLOTS:
 

src/rviz_visual_tools_gui.h

@@ -61,10 +61,10 @@ class RvizVisualToolsGui : public rviz::Panel
 {
   Q_OBJECT
 public:
-  explicit RvizVisualToolsGui(QWidget* parent = 0);
+  explicit RvizVisualToolsGui(QWidget* parent = nullptr);
 
-  virtual void load(const rviz::Config& config);
-  virtual void save(rviz::Config config) const;
+  void load(const rviz::Config& config) override;
+  void save(rviz::Config config) const override;
 
 public Q_SLOTS: