Initial migration

opp_gui/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(opp_gui)
+
+add_compile_options(-std=c++14)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  eigen_conversions
+  eigen_stl_containers
+  geometric_shapes
+  geometry_msgs
+  noether_msgs
+  pluginlib
+  roscpp
+  opp_area_selection
+  opp_msgs
+  opp_database
+  rviz
+  shape_msgs
+  std_srvs
+  visualization_msgs
+)
+
+find_package(Qt5 REQUIRED COMPONENTS
+  Core
+  Widgets
+  Sql
+)
+
+find_package(PCL 1.9 REQUIRED)
+add_definitions(${PCL_DEFINITIONS})
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}_panels
+    ${PROJECT_NAME}_utils
+    ${PROJECT_NAME}_widgets
+  CATKIN_DEPENDS
+    actionlib
+    eigen_conversions
+    eigen_stl_containers
+    geometric_shapes
+    geometry_msgs
+    noether_msgs
+    pluginlib
+    roscpp
+    opp_area_selection
+    opp_msgs
+    opp_database
+    rviz
+    shape_msgs
+    std_srvs
+    visualization_msgs
+  DEPENDS
+    Qt5
+    PCL
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_BINARY_DIR}
+  ${PCL_INCLUDE_DIRS}
+)
+
+set(rpg_gui_UIS
+  ui/database_browser.ui
+  ui/list_editor.ui
+  ui/polygon_area_selection_widget.ui
+  ui/segmentation_parameters_editor.ui
+  ui/surface_selection_combo_widget.ui
+  ui/tool_path_parameters_editor.ui
+  ui/tool_path_planner.ui
+  ui/touch_point_parameters_editor.ui
+  ui/database_log.ui
+)
+
+set(rpg_gui_widget_HEADERS
+  include/${PROJECT_NAME}/widgets/list_editor_widget_base.h
+  include/${PROJECT_NAME}/widgets/polygon_area_selection_widget.h
+  include/${PROJECT_NAME}/widgets/segmentation_parameters_editor_widget.h
+  include/${PROJECT_NAME}/widgets/surface_selection_combo_widget.h
+  include/${PROJECT_NAME}/widgets/tool_path_editor_widget.h
+  include/${PROJECT_NAME}/widgets/tool_path_parameters_editor_widget.h
+  include/${PROJECT_NAME}/widgets/tool_path_planner_widget.h
+  include/${PROJECT_NAME}/widgets/touch_point_editor_widget.h
+  include/${PROJECT_NAME}/widgets/touch_point_parameters_editor_widget.h
+)
+
+set(rpg_gui_widget_SOURCES
+  src/widgets/polygon_area_selection_widget.cpp
+  src/widgets/segmentation_parameters_editor_widget.cpp
+  src/widgets/surface_selection_combo_widget.cpp
+  src/widgets/tool_path_editor_widget.cpp
+  src/widgets/tool_path_parameters_editor_widget.cpp
+  src/widgets/tool_path_planner_widget.cpp
+  src/widgets/touch_point_editor_widget.cpp
+  src/widgets/touch_point_parameters_editor_widget.cpp
+)
+
+set(rpg_gui_panel_HEADERS
+  include/${PROJECT_NAME}/tool_path_planner_panel.h
+)
+
+set(rpg_gui_panel_SOURCES
+  src/tool_path_planner_panel.cpp
+)
+
+# Run the MOC on the Qt-related UIs and headers
+qt5_wrap_ui(rpg_gui_UIS_H
+  ${rpg_gui_UIS}
+)
+qt5_wrap_cpp(rpg_gui_widget_MOCS
+  ${rpg_gui_widget_HEADERS}
+)
+qt5_wrap_cpp(rpg_gui_panel_MOCS
+  ${rpg_gui_panel_HEADERS}
+)
+
+# Utilities library
+add_library(${PROJECT_NAME}_utils
+  src/utils.cpp
+)
+target_link_libraries(${PROJECT_NAME}_utils
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+  Qt5::Core
+  Qt5::Sql
+)
+
+# Qt Widgets
+add_library(${PROJECT_NAME}_widgets
+  ${rpg_gui_UIS_H}
+  ${rpg_gui_widget_MOCS}
+  ${rpg_gui_widget_SOURCES}
+)
+target_link_libraries(${PROJECT_NAME}_widgets
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+  ${PROJECT_NAME}_utils
+  Qt5::Widgets
+)
+
+# Rviz Panel
+add_library(${PROJECT_NAME}_panels
+  ${rpg_gui_panel_MOCS}
+  ${rpg_gui_panel_SOURCES}
+)
+target_link_libraries(${PROJECT_NAME}_panels
+  ${PROJECT_NAME}_widgets
+)
+
+######################
+## Demo Executables ##
+######################
+
+# Segmentation
+add_executable(segmentation_demo_app
+  src/nodes/segmentation_demo_app.cpp
+)
+target_link_libraries(segmentation_demo_app
+  ${PROJECT_NAME}_widgets
+)
+
+# Tool Path Editor
+add_executable(tool_path_editor_demo_app
+  src/nodes/tool_path_editor_demo_app.cpp
+)
+target_link_libraries(tool_path_editor_demo_app
+  ${PROJECT_NAME}_widgets
+)
+
+# Tool Path Planner
+add_executable(tool_path_planner_demo_app
+  src/nodes/tool_path_planner_demo_app.cpp
+)
+target_link_libraries(tool_path_planner_demo_app
+  ${PROJECT_NAME}_widgets
+)
+
+# Touch Point Editor
+add_executable(touch_point_editor_demo_app
+  src/nodes/touch_point_editor_demo_app.cpp
+)
+target_link_libraries(touch_point_editor_demo_app
+  ${PROJECT_NAME}_widgets
+)
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+install(
+  TARGETS
+    ${PROJECT_NAME}_panels
+    ${PROJECT_NAME}_utils
+    ${PROJECT_NAME}_widgets
+    segmentation_demo_app
+    tool_path_editor_demo_app
+    tool_path_planner_demo_app
+    touch_point_editor_demo_app
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY ui/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ui
+)
+install(
+  FILES
+    plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

opp_gui/README.md

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+# opp_gui
+
+This package provides GUI implementations for various applications
+
+## Tool Path Planner
+
+The tool path planner GUI is an RViz panel designed to facilitate the setup of new models and tool path
+planning on those models. The GUI also hosts an interface to the database for saving this information
+
+### Usage
+
+1. Build and source the package
+1. Run the application
+    ```
+    roslaunch opp_startup planner_application.launch
+    ```
+1. Follow the order of operations of the GUI
+
+## Widget Demos
+
+Each stand-alone widget has a node for demonstrating its functionality
+
+### Touch point editor
+```
+rosrun opp_gui touch_point_editor_demo_app
+rosrun rviz rviz
+```
+
+To add a point using the mouse follow these steps:
+
+  1. Add the `Circle Tool Cursor` tool to RViz (Should already be included.)
+  2. Click the `Select with Mouse` button in the widget
+  3. Activate the `Circle Tool Cursor` tool
+  4. Select a location on a mesh in the Rviz render panel
+
+### Tool path editor
+
+```
+rosrun noether surface_raster_planner_server
+rosrun opp_gui tool_path_editor_demo_app
+rosrun rviz rviz
+```
+
+### Tool path planner
+```
+rosrun noether surface_raster_planner_server
+rosrun opp_gui tool_path_planner_demo_app
+rosrun rviz rviz
+```
+
+### Database Browser Widget
+```
+roslaunch opp_startup opp.launch
+rosrun opp_gui database_browser_demo_app
+```

opp_gui/include/opp_gui/register_ros_msgs_for_qt.h

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+/*
+ * Copyright 2019 Southwest Research Institute
+ *
+ * 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 REGISTER_ROS_MSGS_FOR_QT_H
+#define REGISTER_ROS_MSGS_FOR_QT_H
+
+#include <QMetaType>
+
+#include <shape_msgs/Mesh.h>
+
+Q_DECLARE_METATYPE(shape_msgs::Mesh);
+Q_DECLARE_METATYPE(shape_msgs::Mesh::Ptr);
+Q_DECLARE_METATYPE(std::vector<shape_msgs::Mesh>);
+Q_DECLARE_METATYPE(std::vector<shape_msgs::Mesh::Ptr>);
+
+#endif // REGISTER_ROS_MSGS_FOR_QT_H

opp_gui/include/opp_gui/tool_path_planner_panel.h

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+/*
+ * Copyright 2019 Southwest Research Institute
+ *
+ * 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 OPP_GUI_TOOL_PATH_PLANNER_PANEL_H
+#define OPP_GUI_TOOL_PATH_PLANNER_PANEL_H
+
+#include <rviz/panel.h>
+#include <ros/node_handle.h>
+
+namespace opp_gui
+{
+
+class ToolPathPlannerWidget;
+
+/**
+ * @brief Simple RViz panel that wraps the tool path planner widget such that can easily
+ * be used within the context of RViz
+ */
+class ToolPathPlannerPanel : public rviz::Panel
+{
+Q_OBJECT
+public:
+
+  /**
+   * @brief ToolPathPlannerPanel
+   *
+   * Note: the visualization manager object, inherited from `rviz::Panel`, cannot be used in
+   * the constructor. Even though it is a valid, non-null object, it will not be initialized
+   * until the constructor has finished.
+   * @param parent
+   */
+  ToolPathPlannerPanel(QWidget* parent = nullptr);
+
+  /**
+   * @brief Initializes the TPP widget and uses the visualization manager to gather
+   * information about the available frames (used to visualize markers).
+   */
+  virtual void onInitialize() override;
+
+private:
+
+  ToolPathPlannerWidget* tpp_widget_;
+
+  ros::NodeHandle nh_;
+};
+
+} // namespace opp_gui
+
+#endif // OPP_GUI_TOOL_PATH_PLANNER_PANEL_H