Pr-add handeye calibration rviz plugin

.gitignore

@@ -0,0 +1,60 @@
+*~
+~$
+.swp$
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/.*Action\.msg$
+msg/.*ActionFeedback\.msg$
+msg/.*ActionGoal\.msg$
+msg/.*ActionResult\.msg$
+msg/.*Feedback\.msg$
+msg/.*Goal\.msg$
+msg/.*Result\.msg$
+msg/_.*\.py$
+
+\.pcd$
+.pyc$
+
+# Generated by dynamic reconfigure
+\.cfgc$
+/cfg/cpp/
+/cfg/.*\.py$
+
+# Ignore generated docs
+.dox$
+.wikidoc$
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_.*\.py$
+\.pcd$
+.pyc$
+qtcreator-*
+*.user
+
+*~$
+
+# Emacs
+.#*
+
+# VSCode
+.vscode
+
+# Vim
+*.swp
+
+# Continous Integration
+.moveit_ci
+
+*.pyc
+
+#gdb
+*.gdb

.travis.yml

@@ -3,7 +3,7 @@ sudo: required
 dist: xenial
 services:
   - docker
-language: generic
+language: cpp
 cache: ccache
 compiler: gcc
 
@@ -18,7 +18,8 @@ env:
     - ROS_REPO=ros
   matrix:
     - TEST=catkin_lint
-    - ROS_DISTRO=melodic
+    - UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
+      TEST_BLACKLIST=moveit_ros_perception
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

moveit_calibration_gui/CMakeLists.txt

@@ -0,0 +1,83 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(moveit_calibration_gui)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  class_loader
+  geometric_shapes
+  moveit_calibration_plugins
+  moveit_ros_perception
+  moveit_ros_planning_interface
+  moveit_ros_visualization
+  moveit_visual_tools
+  image_geometry
+  pluginlib
+  rosconsole
+  roscpp
+  rviz
+  rviz_visual_tools
+  tf2_eigen
+)
+
+find_package(Eigen3 REQUIRED)
+
+# Qt Stuff
+if(rviz_QT_VERSION VERSION_LESS "5")
+	find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
+	include(${QT_USE_FILE})
+  macro(qt_wrap_ui)
+    qt4_wrap_ui(${ARGN})
+  endmacro()
+else()
+	find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+	set(QT_LIBRARIES Qt5::Widgets)
+  macro(qt_wrap_ui)
+    qt5_wrap_ui(${ARGN})
+  endmacro()
+endif()
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+catkin_package(
+  LIBRARIES
+    moveit_handeye_calibration_rviz_plugin_core
+  INCLUDE_DIRS
+    handeye_calibration_rviz_plugin/include
+  CATKIN_DEPENDS
+    moveit_ros_perception
+    moveit_ros_planning_interface
+    moveit_visual_tools
+    moveit_calibration_plugins
+    roscpp
+    rviz
+    rviz_visual_tools
+  DEPENDS
+    EIGEN3
+)
+
+include_directories(
+                    handeye_calibration_rviz_plugin/include
+                    ${Boost_INCLUDE_DIRS}
+                    ${catkin_INCLUDE_DIRS})
+
+include_directories(SYSTEM
+                    ${EIGEN3_INCLUDE_DIRS}
+                    ${QT_INCLUDE_DIR})
+
+add_subdirectory(handeye_calibration_rviz_plugin)
+
+install(FILES
+  handeye_calibration_rviz_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+endif()

moveit_calibration_gui/handeye_calibration_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,35 @@
+find_package(OpenCV REQUIRED) 
+
+set(HEADERS
+  include/moveit/handeye_calibration_rviz_plugin/handeye_calibration_gui.h
+  include/moveit/handeye_calibration_rviz_plugin/handeye_target_widget.h
+  include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h
+  include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h
+)
+
+#catkin_lint: ignore_once missing_directory
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+
+# Plugin Source
+set(SOURCE_FILES
+  src/handeye_calibration_gui.cpp
+  src/handeye_target_widget.cpp
+  src/handeye_context_widget.cpp
+  src/handeye_control_widget.cpp
+)
+
+set(MOVEIT_LIB_NAME moveit_handeye_calibration_rviz_plugin)
+add_library(${MOVEIT_LIB_NAME}_core ${SOURCE_FILES} ${HEADERS})
+set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(${MOVEIT_LIB_NAME}_core
+  ${catkin_LIBRARIES} ${OpenCV_LIBS} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
+
+add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

moveit_calibration_gui/handeye_calibration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_calibration_gui.h

@@ -0,0 +1,85 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019,  Intel Corporation.
+ *  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 Willow Garage 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: Yu Yan */
+
+#ifndef MOVEIT_HANDEYE_CALIBRATION_RVIZ_PLUGIN_HANDEYE_CALIBRATION_GUI_
+#define MOVEIT_HANDEYE_CALIBRATION_RVIZ_PLUGIN_HANDEYE_CALIBRATION_GUI_
+
+// qt
+
+// ros
+#include <rviz_visual_tools/tf_visual_tools.h>
+
+// local
+#include <moveit/handeye_calibration_rviz_plugin/handeye_target_widget.h>
+#include <moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h>
+#include <moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h>
+
+#ifndef Q_MOC_RUN
+#include <ros/ros.h>
+#include <rviz/panel.h>
+#endif
+
+namespace moveit_rviz_plugin
+{
+class HandEyeCalibrationGui : public rviz::Panel
+{
+  Q_OBJECT
+public:
+  explicit HandEyeCalibrationGui(QWidget* parent = 0);
+  ~HandEyeCalibrationGui() override;
+
+  virtual void load(const rviz::Config& config);
+  virtual void save(rviz::Config config) const;
+
+private:
+  // ******************************************************************************************
+  // Qt Components
+  // ******************************************************************************************
+
+  TargetTabWidget* tab_target_;
+  ContextTabWidget* tab_context_;
+  ControlTabWidget* tab_control_;
+
+  // ******************************************************************************************
+  // Ros Components
+  // ******************************************************************************************
+
+  rviz_visual_tools::TFVisualToolsPtr tf_tools_;
+};
+
+}  // namedist moveit_rviz_plugin
+
+#endif