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Revision 7ffad595

ID7ffad595959c3425ce51c8858d7c3604ad97b1ad

Added by Alex Zirbel over 11 years ago

Added walls to the scoutsim visualizer.

View differences:

scout/scoutsim/src/sim_frame.cpp
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>(


  		




  
  124
  
    
            "/wireless/receive", 1000); 


  		




  
  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();


  		




  
  265
  
    
    }


  		




  251
  266
  
    

  		




  252
  267
  
    
    void SimFrame::clear()


  		




  253
  268
  
    
    {


  		












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