navmap_goal_tool.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
 
#ifndef NAVMAP_RVIZ_PLUGIN__NAVMAP_GOAL_TOOL_HPP_
#define NAVMAP_RVIZ_PLUGIN__NAVMAP_GOAL_TOOL_HPP_
 
#include <QObject>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
 
#include "navmap_rviz_plugin/navmap_pose_tool.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
 
namespace rviz_common
{
class DisplayContext;
namespace properties
{
class StringProperty;
class QosProfileProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace navmap_rviz_plugin
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC NavMapGoalTool : public NavMapPoseTool
{
  Q_OBJECT
 
public:
  NavMapGoalTool();
 
  ~NavMapGoalTool() override;
 
  void onInitialize() override;
 
protected:
  void onPoseSet(double x, double y, double z, double theta) override;
 
private Q_SLOTS:
  void updateTopic();
 
private:
  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_;
  rclcpp::Clock::SharedPtr clock_;
 
  rviz_common::properties::StringProperty * topic_property_;
  rviz_common::properties::QosProfileProperty * qos_profile_property_;
 
  rclcpp::QoS qos_profile_;
};
 
}  // namespace navmap_rviz_plugin
 
#endif  // NAVMAP_RVIZ_PLUGIN__NAVMAP_GOAL_TOOL_HPP_