Revision 7ffad595
Added walls to the scoutsim visualizer.
scout/scoutsim/src/sim_frame.cpp | ||
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96 | 96 |
map_name + ".bmp"; |
97 | 97 |
map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
98 | 98 |
map_name + "_lines.bmp"; |
99 |
map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
|
100 |
map_name + "_walls.bmp"; |
|
99 | 101 |
display_map_name = map_base_name; |
100 | 102 |
|
101 | 103 |
wxBitmap lines_bitmap; |
102 | 104 |
lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())); |
103 | 105 |
lines_image = lines_bitmap.ConvertToImage(); |
104 | 106 |
|
107 |
wxBitmap walls_bitmap; |
|
108 |
walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())); |
|
109 |
walls_image = walls_bitmap.ConvertToImage(); |
|
110 |
|
|
105 | 111 |
clear(); |
106 | 112 |
|
107 | 113 |
clear_srv = nh.advertiseService("clear", |
... | ... | |
114 | 120 |
&SimFrame::killCallback, this); |
115 | 121 |
|
116 | 122 |
// Subscribe and publisher wirless from robots |
117 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>("/wireless/receive", 1000); |
|
118 |
wireless_send = nh.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this); |
|
123 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
|
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"/wireless/receive", 1000); |
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125 |
wireless_send = nh.subscribe("/wireless/send", 1000, |
|
126 |
&SimFrame::wirelessCallback, this); |
|
119 | 127 |
|
120 | 128 |
ROS_INFO("Starting scoutsim with node name %s", |
121 | 129 |
ros::this_node::getName().c_str()) ; |
... | ... | |
131 | 139 |
wxMenu *menuView = new wxMenu; |
132 | 140 |
menuView->Append(ID_MAP, _("&Map")); |
133 | 141 |
menuView->Append(ID_LINES, _("&Lines")); |
142 |
menuView->Append(ID_WALLS, _("&Walls")); |
|
134 | 143 |
|
135 | 144 |
wxMenuBar *menuBar = new wxMenuBar; |
136 | 145 |
menuBar->Append(menuFile, _("&File")); |
... | ... | |
248 | 257 |
display_map_name = map_lines_name; |
249 | 258 |
clear(); |
250 | 259 |
} |
260 |
|
|
261 |
void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event)) |
|
262 |
{ |
|
263 |
display_map_name = map_walls_name; |
|
264 |
clear(); |
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} |
|
251 | 266 |
|
252 | 267 |
void SimFrame::clear() |
253 | 268 |
{ |
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