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This will allow users to define the rectangle map. The "center" is currently the corner of the rectangle. Variable names should be changed to reflect this (center to corner) and the center and dimensions calulated when the rectangle has finished being drawn and the ROS message is ready to be published. Also added support for circles but they are not drawable yet.
They now reflect that the region is defined using the corners not the center Also fixed a debug output error. Can't put < and > in the string because that is parsed as an html tag.
While the virtual fence is being drawn the center, width and height of the rectangle is displayed. The units are currently pixels. Next they need to be converted into meters.
Converted fence geometry from pixel space to meters for display as the user is drawing the fence.
Implemented Virtual Fence commands as a custom message type and setup QT signals and slots. The next step is to add a sendVirtualFenceCmd call when the user finishes drawing a fence. Then the pipeline can be debugged.
The center calculation in meters was not properly offset in the conversion from pixel space. Added the VirtualFence msg type - should have been added previously
ROS adapter had comments that were added to the call back handler since the virtual fence branch was created. This commit fixes the merge conflict.
wfvining
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Aug 27, 2018
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What is the intended behavior w.r.t. global/local frame when the box is draw? It seems that if the box is drawn in the local frame then it is in a different position for each robot.
It seems to me that the box should always be treated as if it were drawn in the global frame.
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It also appears that a bug has been introduced causing rqt to crash if the pop-out map is open when the simulation is ended. |
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Just a comment, not a change that I need before merge: Shoud there be a different box displayed for each robot when global frame is not selected? |
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One last change:
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This is an initial version with basic functionality. Holding shift and drawing in the map frame creates a virtual fence.