diff -pruN 1.14.14+dfsg-2/CHANGELOG.rst 1.14.15+dfsg-3/CHANGELOG.rst --- 1.14.14+dfsg-2/CHANGELOG.rst 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/CHANGELOG.rst 2022-08-01 08:39:42.000000000 +0000 @@ -2,6 +2,38 @@ Changelog for package rviz ^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.14.15 (2022-08-01) +-------------------- +* Improve SplitterHandle of PropertyTreeWidgets (`#1760 `_) + + * Suppress horizontal scrolling and auto-resizing of columns + * Double click auto-adjusts to content +* Fix segfault occuring for direct dock panel deletion (`#1759 `_) +* Fix race conditions in PointCloud displays (`#1754 `_) +* Acquire mutexes before destroying PointCloudCommon +* PointCloud displays: unsubscribe before destroying PointCloudCommon +* Fix segfault in ``TimePanel::onTimeSignal()`` (`#1753 `_): Drop source Display* argument, which is a dangling pointer if the Display was deleted meanwhile +* OGRE compatibility layer: more precise version info +* Use more verbose material names for robot links (robot link material -> robot link :) +* Fix transparency of RobotLinks with multiple visuals and different alpha values (`#1751 `_) +* Maintain original (mesh) materials for RobotLinks (`#1704 `_, `#1732 `_) +* Improve TF time syncing (`#1698 `_) + + - TimePanel: Integrate experimental view + - New mode SyncFrame, syncing TF lookups within a visualization frame +* Conditionally include OgreVector3.h vs. OgreVector.h for OGRE 1.9 vs. 1.12 (`#1741 `_) +* Don't disable display if associated widget tab changes (`#1739 `_) +* Drop OGRE/ from #include directives (`#1730 `_) +* Fix segfault when no tools are available (`#1729 `_) +* GridCells: implement setTopic() (`#1722 `_) +* Adaptions for Ubuntu 22 (`#1717 `_) + + * Switch to new boost/bind/bind.hpp + * Drop C++11 COMPILE_FLAGS + * Do not force obsolete CXX14 + * Support python_qt_bindings with sip5 +* Contributors: AndreasR30, Brosong, Jochen Sprickerhof, Lucas Walter, Matthijs van der Burgh, Robert Haschke + 1.14.14 (2022-02-12) -------------------- * Fixup `#1497 `_: Initialize ``fixed_frame_id`` diff -pruN 1.14.14+dfsg-2/CMakeLists.txt 1.14.15+dfsg-3/CMakeLists.txt --- 1.14.14+dfsg-2/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -8,10 +8,6 @@ if (POLICY CMP0054) cmake_policy(SET CMP0054 NEW) endif() -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -set(CMAKE_CXX_EXTENSIONS OFF) - # Define global caktin_lint suppressions #catkin_lint: ignore uninstalled_script missing_install_target @@ -86,9 +82,9 @@ else() endif() # TODO: adapt version after upgrade to newer OGRE release -# Disable deprecation warnings for OGRE >= 1.10 +# Consider deprecation issues as warnings, not as errors for OGRE >= 1.10 if(NOT OGRE_VERSION VERSION_LESS "1.10.0" AND NOT MSVC) - add_compile_options(-Wno-deprecated-declarations) + add_compile_options(-Wno-error=deprecated-declarations) endif() if(APPLE) diff -pruN 1.14.14+dfsg-2/debian/changelog 1.14.15+dfsg-3/debian/changelog --- 1.14.14+dfsg-2/debian/changelog 2022-06-13 17:45:12.000000000 +0000 +++ 1.14.15+dfsg-3/debian/changelog 2022-08-04 21:37:13.000000000 +0000 @@ -1,3 +1,23 @@ +ros-rviz (1.14.15+dfsg-3) unstable; urgency=medium + + * really upload to unstable + + -- Jochen Sprickerhof Thu, 04 Aug 2022 23:37:13 +0200 + +ros-rviz (1.14.15+dfsg-2) experimental; urgency=medium + + * upload to unstable + + -- Jochen Sprickerhof Thu, 04 Aug 2022 23:29:33 +0200 + +ros-rviz (1.14.15+dfsg-1) experimental; urgency=medium + + * New upstream version 1.14.15+dfsg + * Drop upstreamed patches, define RVIZ_SOVERSION + * Bump SoName due to ABI change + + -- Jochen Sprickerhof Thu, 04 Aug 2022 09:40:28 +0200 + ros-rviz (1.14.14+dfsg-2) unstable; urgency=medium * Fix missing include diff -pruN 1.14.14+dfsg-2/debian/control 1.14.15+dfsg-3/debian/control --- 1.14.14+dfsg-2/debian/control 2022-06-13 17:45:07.000000000 +0000 +++ 1.14.15+dfsg-3/debian/control 2022-08-04 07:34:10.000000000 +0000 @@ -16,14 +16,14 @@ Package: librviz-dev Section: libdevel Architecture: any Multi-Arch: same -Depends: librviz6d (= ${binary:Version}), ${misc:Depends}, libimage-transport-dev, libinteractive-markers-dev, liblaser-geometry-dev, libmap-msgs-dev, libmessage-filters-dev, libnav-msgs-dev, pluginlib-dev, python3-python-qt-binding, libresource-retriever-dev, librosbag-dev, librosconsole-dev, libroscpp-dev, libroslib-dev, python3-rospy, libsensor-msgs-dev, libstd-msgs-dev, libstd-srvs-dev, libtf-dev, liburdf-dev, libvisualization-msgs-dev, libogre-1.12-dev +Depends: librviz7d (= ${binary:Version}), ${misc:Depends}, libimage-transport-dev, libinteractive-markers-dev, liblaser-geometry-dev, libmap-msgs-dev, libmessage-filters-dev, libnav-msgs-dev, pluginlib-dev, python3-python-qt-binding, libresource-retriever-dev, librosbag-dev, librosconsole-dev, libroscpp-dev, libroslib-dev, python3-rospy, libsensor-msgs-dev, libstd-msgs-dev, libstd-srvs-dev, libtf-dev, liburdf-dev, libvisualization-msgs-dev, libogre-1.12-dev Description: Development files for the Robot OS 3D visualization tool This package is part of Robot OS (ROS) RViz package. RViz is a tool to visualize ROS messages and the state of the robot. . This package contains the development files for the rviz library. -Package: librviz6d +Package: librviz7d Architecture: any Depends: ${shlibs:Depends}, ${misc:Depends} Multi-Arch: same diff -pruN 1.14.14+dfsg-2/debian/librviz6d.install 1.14.15+dfsg-3/debian/librviz6d.install --- 1.14.14+dfsg-2/debian/librviz6d.install 2021-11-10 20:41:34.000000000 +0000 +++ 1.14.15+dfsg-3/debian/librviz6d.install 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/*/librviz.so.* diff -pruN 1.14.14+dfsg-2/debian/librviz7d.install 1.14.15+dfsg-3/debian/librviz7d.install --- 1.14.14+dfsg-2/debian/librviz7d.install 1970-01-01 00:00:00.000000000 +0000 +++ 1.14.15+dfsg-3/debian/librviz7d.install 2021-11-10 20:41:34.000000000 +0000 @@ -0,0 +1 @@ +usr/lib/*/librviz.so.* diff -pruN 1.14.14+dfsg-2/debian/patches/0001-Add-Debian-specific-SOVERSION.patch 1.14.15+dfsg-3/debian/patches/0001-Add-Debian-specific-SOVERSION.patch --- 1.14.14+dfsg-2/debian/patches/0001-Add-Debian-specific-SOVERSION.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0001-Add-Debian-specific-SOVERSION.patch 2022-08-04 07:30:51.000000000 +0000 @@ -3,18 +3,20 @@ Date: Wed, 5 Aug 2015 14:05:24 +0200 Subject: Add Debian specific SOVERSION --- - src/rviz/CMakeLists.txt | 1 + - 1 file changed, 1 insertion(+) + src/rviz/CMakeLists.txt | 3 +++ + 1 file changed, 3 insertions(+) diff --git a/src/rviz/CMakeLists.txt b/src/rviz/CMakeLists.txt -index d594109..31282f8 100644 +index e131dd5..46256b3 100644 --- a/src/rviz/CMakeLists.txt +++ b/src/rviz/CMakeLists.txt -@@ -146,6 +146,7 @@ target_link_libraries(${PROJECT_NAME} +@@ -143,6 +143,9 @@ target_link_libraries(${PROJECT_NAME} ) add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -+set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${rviz_VERSION} SOVERSION "6d") ++if(RVIZ_SOVERSION) ++ set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${RVIZ_SOVERSION}) ++endif() if(APPLE) diff -pruN 1.14.14+dfsg-2/debian/patches/0003-Make-Python-version-variable-for-pybuild.patch 1.14.15+dfsg-3/debian/patches/0003-Make-Python-version-variable-for-pybuild.patch --- 1.14.14+dfsg-2/debian/patches/0003-Make-Python-version-variable-for-pybuild.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0003-Make-Python-version-variable-for-pybuild.patch 2022-08-04 07:30:51.000000000 +0000 @@ -7,10 +7,10 @@ Subject: Make Python version variable fo 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/python_bindings/sip/CMakeLists.txt b/src/python_bindings/sip/CMakeLists.txt -index f9124db..bd66776 100644 +index 81daa94..bca06d2 100644 --- a/src/python_bindings/sip/CMakeLists.txt +++ b/src/python_bindings/sip/CMakeLists.txt -@@ -73,5 +73,5 @@ if(sip_helper_FOUND) +@@ -75,5 +75,5 @@ if(sip_helper_FOUND) endif() #catkin_lint: ignore_once external_file install(FILES ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz/${rviz_sip_LIBRARY_FILE} diff -pruN 1.14.14+dfsg-2/debian/patches/0003-Remove-rpath.patch 1.14.15+dfsg-3/debian/patches/0003-Remove-rpath.patch --- 1.14.14+dfsg-2/debian/patches/0003-Remove-rpath.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0003-Remove-rpath.patch 2022-08-04 07:30:51.000000000 +0000 @@ -7,7 +7,7 @@ Subject: Remove rpath 1 file changed, 2 deletions(-) diff --git a/src/python_bindings/sip/CMakeLists.txt b/src/python_bindings/sip/CMakeLists.txt -index 847f75b..f9124db 100644 +index efbb497..81daa94 100644 --- a/src/python_bindings/sip/CMakeLists.txt +++ b/src/python_bindings/sip/CMakeLists.txt @@ -52,8 +52,6 @@ set(rviz_sip_LIBRARIES ${rviz_LIBRARIES} ${PROJECT_NAME}) diff -pruN 1.14.14+dfsg-2/debian/patches/0004-Switch-to-new-boost-bind-bind.hpp.patch 1.14.15+dfsg-3/debian/patches/0004-Switch-to-new-boost-bind-bind.hpp.patch --- 1.14.14+dfsg-2/debian/patches/0004-Switch-to-new-boost-bind-bind.hpp.patch 2022-06-02 16:53:53.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0004-Switch-to-new-boost-bind-bind.hpp.patch 1970-01-01 00:00:00.000000000 +0000 @@ -1,356 +0,0 @@ -From: Jochen Sprickerhof -Date: Tue, 15 Dec 2020 13:59:09 +0100 -Subject: Switch to new boost/bind/bind.hpp - ---- - src/image_view/image_view.cpp | 2 +- - src/rviz/default_plugin/axes_display.cpp | 2 +- - src/rviz/default_plugin/camera_display.cpp | 2 +- - src/rviz/default_plugin/depth_cloud_display.cpp | 8 ++++---- - src/rviz/default_plugin/effort_display.cpp | 2 +- - src/rviz/default_plugin/grid_cells_display.cpp | 2 +- - src/rviz/default_plugin/grid_display.cpp | 2 +- - src/rviz/default_plugin/image_display.cpp | 2 +- - src/rviz/default_plugin/interactive_marker_display.cpp | 8 ++++---- - src/rviz/default_plugin/map_display.cpp | 2 +- - src/rviz/default_plugin/marker_display.cpp | 4 ++-- - src/rviz/default_plugin/path_display.cpp | 2 +- - src/rviz/default_plugin/robot_model_display.cpp | 4 ++-- - src/rviz/default_plugin/tf_display.cpp | 2 +- - src/rviz/displays_panel.cpp | 2 +- - src/rviz/frame_manager.h | 4 ++-- - src/rviz/image/image_display_base.cpp | 6 +++--- - src/rviz/message_filter_display.h | 2 +- - src/rviz/visualization_frame.cpp | 2 +- - src/rviz/visualization_manager.cpp | 2 +- - src/test/rviz_logo_marker.cpp | 2 +- - 21 files changed, 32 insertions(+), 32 deletions(-) - -diff --git a/src/image_view/image_view.cpp b/src/image_view/image_view.cpp -index d331555..924ea5e 100644 ---- a/src/image_view/image_view.cpp -+++ b/src/image_view/image_view.cpp -@@ -94,7 +94,7 @@ void ImageView::showEvent(QShowEvent* event) - - texture_sub_.reset(new image_transport::SubscriberFilter()); - texture_sub_->subscribe(texture_it_, "image", 1, image_transport::TransportHints("raw")); -- texture_sub_->registerCallback(boost::bind(&ImageView::textureCallback, this, _1)); -+ texture_sub_->registerCallback(boost::bind(&ImageView::textureCallback, this, boost::placeholders::_1)); - } - catch (ros::Exception& e) - { -diff --git a/src/rviz/default_plugin/axes_display.cpp b/src/rviz/default_plugin/axes_display.cpp -index 3c32155..5fe1a9c 100644 ---- a/src/rviz/default_plugin/axes_display.cpp -+++ b/src/rviz/default_plugin/axes_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/camera_display.cpp b/src/rviz/default_plugin/camera_display.cpp -index 668f706..003f78e 100644 ---- a/src/rviz/default_plugin/camera_display.cpp -+++ b/src/rviz/default_plugin/camera_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/depth_cloud_display.cpp b/src/rviz/default_plugin/depth_cloud_display.cpp -index 777c587..9cce8e0 100644 ---- a/src/rviz/default_plugin/depth_cloud_display.cpp -+++ b/src/rviz/default_plugin/depth_cloud_display.cpp -@@ -41,7 +41,7 @@ - - #include - --#include -+#include - #include - #include - #include -@@ -302,7 +302,7 @@ void DepthCloudDisplay::subscribe() - // subscribe to CameraInfo topic - std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic); - cam_info_sub_->subscribe(threaded_nh_, info_topic, queue_size_); -- cam_info_sub_->registerCallback(boost::bind(&DepthCloudDisplay::caminfoCallback, this, _1)); -+ cam_info_sub_->registerCallback(boost::bind(&DepthCloudDisplay::caminfoCallback, this, boost::placeholders::_1)); - - if (!color_topic.empty() && !color_transport.empty()) - { -@@ -315,13 +315,13 @@ void DepthCloudDisplay::subscribe() - sync_depth_color_->setInterMessageLowerBound(0, ros::Duration(0.5)); - sync_depth_color_->setInterMessageLowerBound(1, ros::Duration(0.5)); - sync_depth_color_->registerCallback( -- boost::bind(&DepthCloudDisplay::processMessage, this, _1, _2)); -+ boost::bind(&DepthCloudDisplay::processMessage, this, boost::placeholders::_1, boost::placeholders::_2)); - - pointcloud_common_->color_transformer_property_->setValue("RGB8"); - } - else - { -- depthmap_tf_filter_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, _1)); -+ depthmap_tf_filter_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, boost::placeholders::_1)); - } - } - } -diff --git a/src/rviz/default_plugin/effort_display.cpp b/src/rviz/default_plugin/effort_display.cpp -index c3e6e09..6378f2e 100644 ---- a/src/rviz/default_plugin/effort_display.cpp -+++ b/src/rviz/default_plugin/effort_display.cpp -@@ -119,7 +119,7 @@ void EffortDisplay::onInitialize() - std::string(), 1, update_nh_); - - // but directly process messages -- sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, _1)); -+ sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, boost::placeholders::_1)); - updateHistoryLength(); - } - -diff --git a/src/rviz/default_plugin/grid_cells_display.cpp b/src/rviz/default_plugin/grid_cells_display.cpp -index 86a20a5..82ef4ed 100644 ---- a/src/rviz/default_plugin/grid_cells_display.cpp -+++ b/src/rviz/default_plugin/grid_cells_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - #include - #include - #include -diff --git a/src/rviz/default_plugin/grid_display.cpp b/src/rviz/default_plugin/grid_display.cpp -index 9da0532..c288935 100644 ---- a/src/rviz/default_plugin/grid_display.cpp -+++ b/src/rviz/default_plugin/grid_display.cpp -@@ -29,7 +29,7 @@ - - #include - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/image_display.cpp b/src/rviz/default_plugin/image_display.cpp -index eff2ebf..346d918 100644 ---- a/src/rviz/default_plugin/image_display.cpp -+++ b/src/rviz/default_plugin/image_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/interactive_marker_display.cpp b/src/rviz/default_plugin/interactive_marker_display.cpp -index f3c559d..ec27776 100644 ---- a/src/rviz/default_plugin/interactive_marker_display.cpp -+++ b/src/rviz/default_plugin/interactive_marker_display.cpp -@@ -109,10 +109,10 @@ void InteractiveMarkerDisplay::onInitialize() - auto tf = context_->getFrameManager()->getTF2BufferPtr(); - im_client_.reset(new interactive_markers::InteractiveMarkerClient(*tf, fixed_frame_.toStdString())); - -- im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, _1)); -- im_client_->setUpdateCb(boost::bind(&InteractiveMarkerDisplay::updateCb, this, _1)); -- im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, _1)); -- im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, _1, _2, _3)); -+ im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, boost::placeholders::_1)); -+ im_client_->setUpdateCb(boost::bind(&InteractiveMarkerDisplay::updateCb, this, boost::placeholders::_1)); -+ im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, boost::placeholders::_1)); -+ im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); - - client_id_ = ros::this_node::getName() + "/" + getNameStd(); - -diff --git a/src/rviz/default_plugin/map_display.cpp b/src/rviz/default_plugin/map_display.cpp -index 41ebb78..9e14618 100644 ---- a/src/rviz/default_plugin/map_display.cpp -+++ b/src/rviz/default_plugin/map_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/marker_display.cpp b/src/rviz/default_plugin/marker_display.cpp -index 4802d24..348fff7 100644 ---- a/src/rviz/default_plugin/marker_display.cpp -+++ b/src/rviz/default_plugin/marker_display.cpp -@@ -77,8 +77,8 @@ void MarkerDisplay::onInitialize() - queue_size_property_->getInt(), update_nh_); - - tf_filter_->connectInput(sub_); -- tf_filter_->registerCallback(boost::bind(&MarkerDisplay::incomingMarker, this, _1)); -- tf_filter_->registerFailureCallback(boost::bind(&MarkerDisplay::failedMarker, this, _1, _2)); -+ tf_filter_->registerCallback(boost::bind(&MarkerDisplay::incomingMarker, this, boost::placeholders::_1)); -+ tf_filter_->registerFailureCallback(boost::bind(&MarkerDisplay::failedMarker, this, boost::placeholders::_1, boost::placeholders::_2)); - - namespace_config_enabled_state_.clear(); - } -diff --git a/src/rviz/default_plugin/path_display.cpp b/src/rviz/default_plugin/path_display.cpp -index 6d06c30..1c342e4 100644 ---- a/src/rviz/default_plugin/path_display.cpp -+++ b/src/rviz/default_plugin/path_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/default_plugin/robot_model_display.cpp b/src/rviz/default_plugin/robot_model_display.cpp -index 2670436..952456c 100644 ---- a/src/rviz/default_plugin/robot_model_display.cpp -+++ b/src/rviz/default_plugin/robot_model_display.cpp -@@ -205,7 +205,7 @@ void RobotModelDisplay::load() - QString("Errors loading geometries:").append(ss.str().c_str())); - - robot_->update(TFLinkUpdater(context_->getFrameManager(), -- boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this), -+ boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, this), - tf_prefix_property_->getStdString())); - } - -@@ -230,7 +230,7 @@ void RobotModelDisplay::update(float wall_dt, float /*ros_dt*/) - if (has_new_transforms_ || update) - { - robot_->update(TFLinkUpdater(context_->getFrameManager(), -- boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this), -+ boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, this), - tf_prefix_property_->getStdString())); - context_->queueRender(); - -diff --git a/src/rviz/default_plugin/tf_display.cpp b/src/rviz/default_plugin/tf_display.cpp -index bf7e9ce..e91cdc9 100644 ---- a/src/rviz/default_plugin/tf_display.cpp -+++ b/src/rviz/default_plugin/tf_display.cpp -@@ -27,7 +27,7 @@ - * POSSIBILITY OF SUCH DAMAGE. - */ - --#include -+#include - - #include - #include -diff --git a/src/rviz/displays_panel.cpp b/src/rviz/displays_panel.cpp -index 5a4f3f8..2ca9fdd 100644 ---- a/src/rviz/displays_panel.cpp -+++ b/src/rviz/displays_panel.cpp -@@ -36,7 +36,7 @@ - #include - #include - --#include -+#include - - #include - #include -diff --git a/src/rviz/frame_manager.h b/src/rviz/frame_manager.h -index 2ce359f..52b3ac0 100644 ---- a/src/rviz/frame_manager.h -+++ b/src/rviz/frame_manager.h -@@ -192,9 +192,9 @@ public: - template - void registerFilterForTransformStatusCheck(tf2_ros::MessageFilter* filter, Display* display) - { -- filter->registerCallback(boost::bind(&FrameManager::messageCallback, this, _1, display)); -+ filter->registerCallback(boost::bind(&FrameManager::messageCallback, this, boost::placeholders::_1, display)); - filter->registerFailureCallback(boost::bind( -- &FrameManager::failureCallback, this, _1, _2, display)); -+ &FrameManager::failureCallback, this, boost::placeholders::_1, boost::placeholders::_2, display)); - } - - /** @brief Return the current fixed frame name. */ -diff --git a/src/rviz/image/image_display_base.cpp b/src/rviz/image/image_display_base.cpp -index c03fbb6..94fd7d5 100644 ---- a/src/rviz/image/image_display_base.cpp -+++ b/src/rviz/image/image_display_base.cpp -@@ -181,15 +181,15 @@ void ImageDisplayBase::subscribe() - - if (targetFrame_.empty()) - { -- sub_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1)); -+ sub_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1)); - } - else - { - tf_filter_.reset(new tf2_ros::MessageFilter( - *sub_, *context_->getTF2BufferPtr(), targetFrame_, queue_size_property_->getInt(), - update_nh_)); -- tf_filter_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1)); -- tf_filter_->registerFailureCallback(boost::bind(&ImageDisplayBase::failedMessage, this, _1, _2)); -+ tf_filter_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1)); -+ tf_filter_->registerFailureCallback(boost::bind(&ImageDisplayBase::failedMessage, this, boost::placeholders::_1, boost::placeholders::_2)); - } - } - setStatus(StatusProperty::Ok, "Topic", "OK"); -diff --git a/src/rviz/message_filter_display.h b/src/rviz/message_filter_display.h -index 224f403..2016d05 100644 ---- a/src/rviz/message_filter_display.h -+++ b/src/rviz/message_filter_display.h -@@ -111,7 +111,7 @@ public: - - tf_filter_->connectInput(sub_); - tf_filter_->registerCallback( -- boost::bind(&MessageFilterDisplay::incomingMessage, this, _1)); -+ boost::bind(&MessageFilterDisplay::incomingMessage, this, boost::placeholders::_1)); - context_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this); - } - -diff --git a/src/rviz/visualization_frame.cpp b/src/rviz/visualization_frame.cpp -index 54cfad6..2cbbba5 100644 ---- a/src/rviz/visualization_frame.cpp -+++ b/src/rviz/visualization_frame.cpp -@@ -53,7 +53,7 @@ - - #include - #include --#include -+#include - #include - - #include -diff --git a/src/rviz/visualization_manager.cpp b/src/rviz/visualization_manager.cpp -index dcb5aab..1816236 100644 ---- a/src/rviz/visualization_manager.cpp -+++ b/src/rviz/visualization_manager.cpp -@@ -35,7 +35,7 @@ - #include - #include - --#include -+#include - - #include - #include -diff --git a/src/test/rviz_logo_marker.cpp b/src/test/rviz_logo_marker.cpp -index 6ff8746..d66686d 100644 ---- a/src/test/rviz_logo_marker.cpp -+++ b/src/test/rviz_logo_marker.cpp -@@ -99,7 +99,7 @@ int main(int argc, char** argv) - ros::init(argc, argv, "rviz_logo_marker"); - ros::NodeHandle n; - -- ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), boost::bind(&publishCallback, _1)); -+ ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), boost::bind(&publishCallback, boost::placeholders::_1)); - - server = new interactive_markers::InteractiveMarkerServer("rviz_logo"); - makeMarker(); diff -pruN 1.14.14+dfsg-2/debian/patches/0005-Drop-c-11-COMPILE_FLAGS.patch 1.14.15+dfsg-3/debian/patches/0005-Drop-c-11-COMPILE_FLAGS.patch --- 1.14.14+dfsg-2/debian/patches/0005-Drop-c-11-COMPILE_FLAGS.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0005-Drop-c-11-COMPILE_FLAGS.patch 1970-01-01 00:00:00.000000000 +0000 @@ -1,228 +0,0 @@ -From: Jochen Sprickerhof -Date: Fri, 14 Jan 2022 21:30:36 +0100 -Subject: Drop c++11 COMPILE_FLAGS - ---- - src/image_view/CMakeLists.txt | 3 -- - src/python_bindings/shiboken/CMakeLists.txt | 3 -- - src/rviz/CMakeLists.txt | 7 ---- - src/rviz/default_plugin/CMakeLists.txt | 4 --- - src/test/CMakeLists.txt | 51 ----------------------------- - 5 files changed, 68 deletions(-) - -diff --git a/src/image_view/CMakeLists.txt b/src/image_view/CMakeLists.txt -index 1c86461..b2bd513 100644 ---- a/src/image_view/CMakeLists.txt -+++ b/src/image_view/CMakeLists.txt -@@ -2,9 +2,6 @@ add_executable(rviz_image_view - image_view.cpp - main.cpp - ) --if(NOT WIN32) -- set_target_properties(rviz_image_view PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - - target_link_libraries(rviz_image_view - ${OGRE_LIBRARIES} -diff --git a/src/python_bindings/shiboken/CMakeLists.txt b/src/python_bindings/shiboken/CMakeLists.txt -index 24ea096..7bf671c 100644 ---- a/src/python_bindings/shiboken/CMakeLists.txt -+++ b/src/python_bindings/shiboken/CMakeLists.txt -@@ -90,9 +90,6 @@ if(shiboken_helper_FOUND) - ) - shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}") - add_library(rviz_shiboken ${rviz_shiboken_SRCS}) -- if(NOT WIN32) -- set_target_properties(rviz_shiboken PROPERTIES COMPILE_FLAGS "-std=c++11") -- endif() - set_target_properties(rviz_shiboken PROPERTIES - LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz) - target_link_libraries(rviz_shiboken ${PROJECT_NAME}) -diff --git a/src/rviz/CMakeLists.txt b/src/rviz/CMakeLists.txt -index 31282f8..af98735 100644 ---- a/src/rviz/CMakeLists.txt -+++ b/src/rviz/CMakeLists.txt -@@ -128,9 +128,6 @@ add_library(${PROJECT_NAME} - include(GenerateExportHeader) - set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/${PROJECT_NAME}_export.h) - generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME}) --if(NOT WIN32) -- set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - - target_link_libraries(${PROJECT_NAME} - ${Boost_LIBRARIES} -@@ -156,10 +153,6 @@ endif(APPLE) - ########### The rviz executable ########### - add_executable(executable main.cpp) - --if(NOT WIN32) -- set_target_properties(executable PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() -- - target_link_libraries(executable ${PROJECT_NAME} ${QT_LIBRARIES} ${OGRE_LIBRARIES}) - - set_target_properties(executable -diff --git a/src/rviz/default_plugin/CMakeLists.txt b/src/rviz/default_plugin/CMakeLists.txt -index 196c252..c6ebc40 100644 ---- a/src/rviz/default_plugin/CMakeLists.txt -+++ b/src/rviz/default_plugin/CMakeLists.txt -@@ -72,10 +72,6 @@ add_library(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} ${SOURCE_FILES}) - include(GenerateExportHeader) - set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/default_plugin/${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}_export.h) - generate_export_header(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME}) --if(NOT WIN32) -- set_target_properties(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} -- PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} - ${PROJECT_NAME} - ${Boost_LIBRARIES} -diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt -index 5ec9067..ceeb70d 100644 ---- a/src/test/CMakeLists.txt -+++ b/src/test/CMakeLists.txt -@@ -3,25 +3,16 @@ find_package(rostest REQUIRED) - - # This is a test utility which publishes images of different types. - add_executable(send_images EXCLUDE_FROM_ALL send_images.cpp) --if(NOT WIN32) -- set_target_properties(send_images PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(send_images ${catkin_LIBRARIES}) - add_dependencies(tests send_images) - - # This is a test utility which can publish different kinds of markers. - add_executable(marker_test EXCLUDE_FROM_ALL marker_test.cpp) --if(NOT WIN32) -- set_target_properties(marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(marker_test ${catkin_LIBRARIES}) - add_dependencies(tests marker_test) - - # This is a test utility which can publish different kinds of mesh markers. - add_executable(mesh_marker_test EXCLUDE_FROM_ALL mesh_marker_test.cpp) --if(NOT WIN32) -- set_target_properties(mesh_marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(mesh_marker_test ${catkin_LIBRARIES}) - add_dependencies(tests mesh_marker_test) - -@@ -53,81 +44,51 @@ catkin_add_gtest(uniform_string_stream_test - - # This is an example node which serves an rviz logo as an interactive marker. - add_executable(rviz_logo_marker EXCLUDE_FROM_ALL rviz_logo_marker.cpp) --if(NOT WIN32) -- set_target_properties(rviz_logo_marker PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(rviz_logo_marker ${catkin_LIBRARIES}) - add_dependencies(tests rviz_logo_marker) - - # This is an example node which publishes different kinds of point clouds. - add_executable(cloud_test EXCLUDE_FROM_ALL cloud_test.cpp) --if(NOT WIN32) -- set_target_properties(cloud_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(cloud_test ${catkin_LIBRARIES}) - add_dependencies(tests cloud_test) - - # This is an example node which serves an interactive marker. - add_executable(interactive_marker_test interactive_marker_test.cpp) --if(NOT WIN32) -- set_target_properties(interactive_marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(interactive_marker_test ${catkin_LIBRARIES}) - add_dependencies(tests interactive_marker_test) - - # This is another example node that publishes images. - add_executable(image_test EXCLUDE_FROM_ALL image_test.cpp) --if(NOT WIN32) -- set_target_properties(image_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(image_test ${catkin_LIBRARIES}) - add_dependencies(tests image_test) - - # This is a node that sends lots of point clouds. - add_executable(send_lots_of_points EXCLUDE_FROM_ALL send_lots_of_points_node.cpp) --if(NOT WIN32) -- set_target_properties(send_lots_of_points PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(send_lots_of_points ${catkin_LIBRARIES}) - add_dependencies(tests send_lots_of_points) - - # Yet another example which sends point clouds. - add_executable(send_point_cloud_2 EXCLUDE_FROM_ALL send_point_cloud_2.cpp) --if(NOT WIN32) -- set_target_properties(send_point_cloud_2 PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(send_point_cloud_2 ${catkin_LIBRARIES}) - add_dependencies(tests send_point_cloud_2) - - # This is a node which sends grid cells. - add_executable(send_grid_cells EXCLUDE_FROM_ALL send_grid_cells_node.cpp) --if(NOT WIN32) -- set_target_properties(send_grid_cells PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(send_grid_cells ${catkin_LIBRARIES}) - add_dependencies(tests send_grid_cells) - - # This is a test program that uses the rviz panel interface. - add_executable(render_panel_test render_panel_test.cpp) --if(NOT WIN32) -- set_target_properties(render_panel_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(render_panel_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests render_panel_test) - - # This is an executable which uses the rviz new display diaglog interface. - add_executable(new_display_dialog_test new_display_dialog_test.cpp) --if(NOT WIN32) -- set_target_properties(new_display_dialog_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(new_display_dialog_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests new_display_dialog_test) - - # This is an executable which uses the rviz color editor test. - add_executable(color_editor_test color_editor_test.cpp) --if(NOT WIN32) -- set_target_properties(color_editor_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(color_editor_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests color_editor_test) - -@@ -143,17 +104,11 @@ add_dependencies(tests property_with_ros_spinner_test) - - # This is an executable that uses the line_edit_with_button property interface. - add_executable(line_edit_with_button_test line_edit_with_button_test.cpp) --if(NOT WIN32) -- set_target_properties(line_edit_with_button_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(line_edit_with_button_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests line_edit_with_button_test) - - # This is an executable which tests the connect/disconnect behavior of signals and slots in Qt. - add_executable(connect_test connect_test.cpp) --if(NOT WIN32) -- set_target_properties(connect_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(connect_test ${QT_LIBRARIES}) - add_dependencies(tests connect_test) - -@@ -166,17 +121,11 @@ add_executable(render_points_test - render_points_test.cpp - ../rviz/ogre_helpers/orbit_camera.cpp - ) --if(NOT WIN32) -- set_target_properties(render_points_test PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(render_points_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests render_points_test) - - # This is an example application which creates two ogre render windows. - add_executable(two_render_widgets two_render_widgets.cpp) --if(NOT WIN32) -- set_target_properties(two_render_widgets PROPERTIES COMPILE_FLAGS "-std=c++11") --endif() - target_link_libraries(two_render_widgets rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) - add_dependencies(tests two_render_widgets) - diff -pruN 1.14.14+dfsg-2/debian/patches/0006-Do-not-force-obsolete-CXX-14.patch 1.14.15+dfsg-3/debian/patches/0006-Do-not-force-obsolete-CXX-14.patch --- 1.14.14+dfsg-2/debian/patches/0006-Do-not-force-obsolete-CXX-14.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0006-Do-not-force-obsolete-CXX-14.patch 1970-01-01 00:00:00.000000000 +0000 @@ -1,23 +0,0 @@ -From: =?utf-8?q?Timo_R=C3=B6hling?= -Date: Sat, 15 Jan 2022 16:04:00 +0100 -Subject: Do not force obsolete CXX 14 - ---- - CMakeLists.txt | 4 ---- - 1 file changed, 4 deletions(-) - -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 038a431..13d86f6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -8,10 +8,6 @@ if (POLICY CMP0054) - cmake_policy(SET CMP0054 NEW) - endif() - --set(CMAKE_CXX_STANDARD 14) --set(CMAKE_CXX_STANDARD_REQUIRED ON) --set(CMAKE_CXX_EXTENSIONS OFF) -- - # Define global caktin_lint suppressions - #catkin_lint: ignore uninstalled_script missing_install_target - diff -pruN 1.14.14+dfsg-2/debian/patches/0008-Add-missing-include.patch 1.14.15+dfsg-3/debian/patches/0008-Add-missing-include.patch --- 1.14.14+dfsg-2/debian/patches/0008-Add-missing-include.patch 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/0008-Add-missing-include.patch 1970-01-01 00:00:00.000000000 +0000 @@ -1,21 +0,0 @@ -From: Jochen Sprickerhof -Date: Thu, 26 May 2022 21:29:40 +0200 -Subject: Add missing include - ---- - src/rviz/pluginlib_factory.h | 2 ++ - 1 file changed, 2 insertions(+) - -diff --git a/src/rviz/pluginlib_factory.h b/src/rviz/pluginlib_factory.h -index 6b0059c..b493437 100644 ---- a/src/rviz/pluginlib_factory.h -+++ b/src/rviz/pluginlib_factory.h -@@ -36,6 +36,8 @@ - #include - #include - -+#include -+ - #ifndef Q_MOC_RUN - #include - #endif diff -pruN 1.14.14+dfsg-2/debian/patches/series 1.14.15+dfsg-3/debian/patches/series --- 1.14.14+dfsg-2/debian/patches/series 2022-06-02 16:53:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/patches/series 2022-08-04 07:30:51.000000000 +0000 @@ -1,8 +1,4 @@ 0001-Add-Debian-specific-SOVERSION.patch 0003-Remove-rpath.patch 0003-Make-Python-version-variable-for-pybuild.patch -0004-Switch-to-new-boost-bind-bind.hpp.patch -0005-Drop-c-11-COMPILE_FLAGS.patch -0006-Do-not-force-obsolete-CXX-14.patch 0007-Fix-default-plugin-location.patch -0008-Add-missing-include.patch diff -pruN 1.14.14+dfsg-2/debian/rules 1.14.15+dfsg-3/debian/rules --- 1.14.14+dfsg-2/debian/rules 2022-01-16 09:06:49.000000000 +0000 +++ 1.14.15+dfsg-3/debian/rules 2022-08-04 07:34:10.000000000 +0000 @@ -1,6 +1,6 @@ #!/usr/bin/make -f -export PYBUILD_CONFIGURE_ARGS=-DPYBUILD_PYTHON_VERSION={version} +export PYBUILD_CONFIGURE_ARGS=-DPYBUILD_PYTHON_VERSION={version} -DRVIZ_SOVERSION=7d export PYBUILD_SYSTEM=cmake include /usr/share/dpkg/architecture.mk diff -pruN 1.14.14+dfsg-2/doc/conf.py 1.14.15+dfsg-3/doc/conf.py --- 1.14.14+dfsg-2/doc/conf.py 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/doc/conf.py 2022-08-01 08:39:42.000000000 +0000 @@ -41,8 +41,8 @@ source_suffix = ".rst" master_doc = "index" # General information about the project. -project = u"RViz" -copyright = u"2012, Willow Garage, Inc" +project = "RViz" +copyright = "2012, Willow Garage, Inc" # The version info for the project you're documenting, acts as replacement for # |version| and |release|, also used in various other places throughout the @@ -186,8 +186,8 @@ latex_documents = [ ( "index", "RViz.tex", - u"RViz Documentation", - u"Josh Faust, Dave Hershberger, David Gossow, and others", + "RViz Documentation", + "Josh Faust, Dave Hershberger, David Gossow, and others", "manual", ), ] @@ -221,8 +221,8 @@ man_pages = [ ( "index", "rviz", - u"RViz Documentation", - [u"Josh Faust, Dave Hershberger, David Gossow, and others"], + "RViz Documentation", + ["Josh Faust, Dave Hershberger, David Gossow, and others"], 1, ) ] @@ -240,8 +240,8 @@ texinfo_documents = [ ( "index", "RViz", - u"RViz Documentation", - u"Josh Faust, Dave Hershberger, David Gossow, and others", + "RViz Documentation", + "Josh Faust, Dave Hershberger, David Gossow, and others", "RViz", "One line description of project.", "Miscellaneous", diff -pruN 1.14.14+dfsg-2/doc/youtube.py 1.14.15+dfsg-3/doc/youtube.py --- 1.14.14+dfsg-2/doc/youtube.py 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/doc/youtube.py 2022-08-01 08:39:42.000000000 +0000 @@ -49,7 +49,7 @@ PARAM = """\n rviz - 1.14.14 + 1.14.15 3D visualization tool for ROS. diff -pruN 1.14.14+dfsg-2/.pre-commit-config.yaml 1.14.15+dfsg-3/.pre-commit-config.yaml --- 1.14.14+dfsg-2/.pre-commit-config.yaml 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/.pre-commit-config.yaml 2022-08-01 08:39:42.000000000 +0000 @@ -28,7 +28,7 @@ repos: - id: trailing-whitespace - repo: https://github.com/psf/black - rev: 20.8b1 + rev: 22.3.0 hooks: - id: black diff -pruN 1.14.14+dfsg-2/README.md 1.14.15+dfsg-3/README.md --- 1.14.14+dfsg-2/README.md 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/README.md 2022-08-01 08:39:42.000000000 +0000 @@ -1,6 +1,8 @@ -![rviz logo](https://raw.githubusercontent.com/ros-visualization/rviz/melodic-devel/images/splash.png) +![rviz logo](https://raw.githubusercontent.com/ros-visualization/rviz/noetic-devel/images/splash.png) -[![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__rviz__ubuntu_bionic_amd64)](http://build.ros.org/view/Mdev/job/Mdev__rviz__ubuntu_bionic_amd64/) +[![Format](https://github.com/ros-visualization/rviz/actions/workflows/format.yaml/badge.svg?branch=noetic-devel)](https://github.com/ros-visualization/rviz/actions/workflows/format.yaml?query=branch%3Anoetic-devel) +[![CI](https://github.com/ros-visualization/rviz/actions/workflows/ci.yaml/badge.svg?branch=noetic-devel)](https://github.com/ros-visualization/rviz/actions/workflows/ci.yaml?query=branch%3Anoetic-devel) +[![ROS CI](https://build.ros.org/buildStatus/icon?job=Ndev__rviz__ubuntu_focal_amd64)](https://build.ros.org/view/Ndev/job/Ndev__rviz__ubuntu_focal_amd64/) rviz is a 3D visualizer for the Robot Operating System (ROS) framework. diff -pruN 1.14.14+dfsg-2/src/image_view/CMakeLists.txt 1.14.15+dfsg-3/src/image_view/CMakeLists.txt --- 1.14.14+dfsg-2/src/image_view/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/image_view/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -2,9 +2,6 @@ add_executable(rviz_image_view image_view.cpp main.cpp ) -if(NOT WIN32) - set_target_properties(rviz_image_view PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(rviz_image_view ${OGRE_LIBRARIES} diff -pruN 1.14.14+dfsg-2/src/image_view/image_view.cpp 1.14.15+dfsg-3/src/image_view/image_view.cpp --- 1.14.14+dfsg-2/src/image_view/image_view.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/image_view/image_view.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -39,17 +39,17 @@ #include "ros/ros.h" #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include "image_view.h" @@ -94,7 +94,8 @@ void ImageView::showEvent(QShowEvent* ev texture_sub_.reset(new image_transport::SubscriberFilter()); texture_sub_->subscribe(texture_it_, "image", 1, image_transport::TransportHints("raw")); - texture_sub_->registerCallback(boost::bind(&ImageView::textureCallback, this, _1)); + texture_sub_->registerCallback( + boost::bind(&ImageView::textureCallback, this, boost::placeholders::_1)); } catch (ros::Exception& e) { diff -pruN 1.14.14+dfsg-2/src/image_view/image_view.h 1.14.15+dfsg-3/src/image_view/image_view.h --- 1.14.14+dfsg-2/src/image_view/image_view.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/image_view/image_view.h 2022-08-01 08:39:42.000000000 +0000 @@ -35,13 +35,13 @@ #include "ros/ros.h" #include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/python_bindings/shiboken/CMakeLists.txt 1.14.15+dfsg-3/src/python_bindings/shiboken/CMakeLists.txt --- 1.14.14+dfsg-2/src/python_bindings/shiboken/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/python_bindings/shiboken/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -90,9 +90,6 @@ if(shiboken_helper_FOUND) ) shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}") add_library(rviz_shiboken ${rviz_shiboken_SRCS}) - if(NOT WIN32) - set_target_properties(rviz_shiboken PROPERTIES COMPILE_FLAGS "-std=c++11") - endif() set_target_properties(rviz_shiboken PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz) target_link_libraries(rviz_shiboken ${PROJECT_NAME}) diff -pruN 1.14.14+dfsg-2/src/python_bindings/sip/CMakeLists.txt 1.14.15+dfsg-3/src/python_bindings/sip/CMakeLists.txt --- 1.14.14+dfsg-2/src/python_bindings/sip/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/python_bindings/sip/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -66,7 +66,9 @@ if(sip_helper_FOUND) DEPENDS ${rviz_sip_DEPENDENT_FILES} DEPENDENCIES rviz ) - if(APPLE) + if(DEFINED PYTHON_EXTENSION_MODULE_SUFFIX) + set(rviz_sip_LIBRARY_FILE librviz_sip${PYTHON_EXTENSION_MODULE_SUFFIX}) + elseif(APPLE) set(rviz_sip_LIBRARY_FILE librviz_sip.so) elseif(WIN32) set(rviz_sip_LIBRARY_FILE librviz_sip.pyd) diff -pruN 1.14.14+dfsg-2/src/rviz/CMakeLists.txt 1.14.15+dfsg-3/src/rviz/CMakeLists.txt --- 1.14.14+dfsg-2/src/rviz/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -128,9 +128,6 @@ add_library(${PROJECT_NAME} include(GenerateExportHeader) set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/${PROJECT_NAME}_export.h) generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME}) -if(NOT WIN32) - set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} @@ -155,10 +152,6 @@ endif(APPLE) ########### The rviz executable ########### add_executable(executable main.cpp) -if(NOT WIN32) - set_target_properties(executable PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() - target_link_libraries(executable ${PROJECT_NAME} ${QT_LIBRARIES} ${OGRE_LIBRARIES}) set_target_properties(executable diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/axes_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/axes_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/axes_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/axes_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,11 +27,11 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/camera_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/camera_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/camera_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/camera_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,19 +27,19 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -110,7 +110,7 @@ CameraDisplay::~CameraDisplay() { render_panel_->getRenderWindow()->removeListener(this); - unsubscribe(); + CameraDisplay::unsubscribe(); delete render_panel_; delete bg_screen_rect_; diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/camera_display.h 1.14.15+dfsg-3/src/rviz/default_plugin/camera_display.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/camera_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/camera_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -35,9 +35,9 @@ #include #ifndef Q_MOC_RUN -#include -#include -#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/CMakeLists.txt 1.14.15+dfsg-3/src/rviz/default_plugin/CMakeLists.txt --- 1.14.14+dfsg-2/src/rviz/default_plugin/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -72,10 +72,6 @@ add_library(${rviz_DEFAULT_PLUGIN_LIBRAR include(GenerateExportHeader) set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/default_plugin/${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}_export.h) generate_export_header(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME}) -if(NOT WIN32) - set_target_properties(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} - PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} ${PROJECT_NAME} ${Boost_LIBRARIES} diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_property.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_property.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_property.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_property.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,8 +36,8 @@ #include -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_property.h 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_property.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_property.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_property.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_visual.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_visual.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_visual.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_visual.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -32,9 +32,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_visual.h 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_visual.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/covariance_visual.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/covariance_visual.h 2022-08-01 08:39:42.000000000 +0000 @@ -40,8 +40,8 @@ #include -#include -#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/depth_cloud_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/depth_cloud_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/depth_cloud_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/depth_cloud_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -41,13 +41,13 @@ #include -#include +#include #include #include #include -#include -#include +#include +#include #include #include @@ -302,7 +302,8 @@ void DepthCloudDisplay::subscribe() // subscribe to CameraInfo topic std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic); cam_info_sub_->subscribe(threaded_nh_, info_topic, queue_size_); - cam_info_sub_->registerCallback(boost::bind(&DepthCloudDisplay::caminfoCallback, this, _1)); + cam_info_sub_->registerCallback( + boost::bind(&DepthCloudDisplay::caminfoCallback, this, boost::placeholders::_1)); if (!color_topic.empty() && !color_transport.empty()) { @@ -314,14 +315,15 @@ void DepthCloudDisplay::subscribe() sync_depth_color_->connectInput(*depthmap_tf_filter_, *rgb_sub_); sync_depth_color_->setInterMessageLowerBound(0, ros::Duration(0.5)); sync_depth_color_->setInterMessageLowerBound(1, ros::Duration(0.5)); - sync_depth_color_->registerCallback( - boost::bind(&DepthCloudDisplay::processMessage, this, _1, _2)); + sync_depth_color_->registerCallback(boost::bind( + &DepthCloudDisplay::processMessage, this, boost::placeholders::_1, boost::placeholders::_2)); pointcloud_common_->color_transformer_property_->setValue("RGB8"); } else { - depthmap_tf_filter_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, _1)); + depthmap_tf_filter_->registerCallback( + boost::bind(&DepthCloudDisplay::processMessage, this, boost::placeholders::_1)); } } } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/effort_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/effort_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/effort_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/effort_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,5 +1,5 @@ -#include -#include +#include +#include #include #include @@ -119,7 +119,7 @@ void EffortDisplay::onInitialize() std::string(), 1, update_nh_); // but directly process messages - sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, _1)); + sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, boost::placeholders::_1)); updateHistoryLength(); } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/effort_visual.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/effort_visual.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/effort_visual.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/effort_visual.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,6 +1,6 @@ -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/effort_visual.h 1.14.15+dfsg-3/src/rviz/default_plugin/effort_visual.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/effort_visual.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/effort_visual.h 2022-08-01 08:39:42.000000000 +0000 @@ -1,7 +1,7 @@ #ifndef EFFORT_VISUAL_H #define EFFORT_VISUAL_H -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/fluid_pressure_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/fluid_pressure_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/fluid_pressure_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/fluid_pressure_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -50,6 +50,7 @@ FluidPressureDisplay::FluidPressureDispl FluidPressureDisplay::~FluidPressureDisplay() { + FluidPressureDisplay::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/grid_cells_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/grid_cells_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/grid_cells_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/grid_cells_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,11 +27,10 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/grid_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/grid_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/grid_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/grid_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,10 +29,10 @@ #include -#include +#include -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/illuminance_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/illuminance_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/illuminance_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/illuminance_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -50,6 +50,7 @@ IlluminanceDisplay::IlluminanceDisplay() IlluminanceDisplay::~IlluminanceDisplay() { + IlluminanceDisplay::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/image_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/image_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/image_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/image_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,20 +27,20 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/image_display.h 1.14.15+dfsg-3/src/rviz/default_plugin/image_display.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/image_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/image_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,9 +33,9 @@ #ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 #include -#include -#include -#include +#include +#include +#include #include "rviz/image/image_display_base.h" #include "rviz/image/ros_image_texture.h" diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_marker_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_marker_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_marker_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_marker_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -109,10 +109,12 @@ void InteractiveMarkerDisplay::onInitial auto tf = context_->getFrameManager()->getTF2BufferPtr(); im_client_.reset(new interactive_markers::InteractiveMarkerClient(*tf, fixed_frame_.toStdString())); - im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, _1)); - im_client_->setUpdateCb(boost::bind(&InteractiveMarkerDisplay::updateCb, this, _1)); - im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, _1)); - im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, _1, _2, _3)); + im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, boost::placeholders::_1)); + im_client_->setUpdateCb( + boost::bind(&InteractiveMarkerDisplay::updateCb, this, boost::placeholders::_1)); + im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, boost::placeholders::_1)); + im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, boost::placeholders::_1, + boost::placeholders::_2, boost::placeholders::_3)); client_id_ = ros::this_node::getName() + "/" + getNameStd(); diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker_control.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker_control.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker_control.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker_control.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,16 +27,16 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker_control.h 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker_control.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker_control.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker_control.h 2022-08-01 08:39:42.000000000 +0000 @@ -34,10 +34,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #endif #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,13 +31,13 @@ #include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker.h 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/interactive_markers/interactive_marker.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/interactive_markers/interactive_marker.h 2022-08-01 08:39:42.000000000 +0000 @@ -36,8 +36,8 @@ #include #include -#include -#include +#include +#include #endif #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/laser_scan_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/laser_scan_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/laser_scan_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/laser_scan_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -52,6 +52,7 @@ LaserScanDisplay::LaserScanDisplay() LaserScanDisplay::~LaserScanDisplay() { + LaserScanDisplay::unsubscribe(); delete point_cloud_common_; delete projector_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/map_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/map_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/map_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/map_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,15 +27,15 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include @@ -272,7 +272,7 @@ MapDisplay::MapDisplay() : Display(), lo MapDisplay::~MapDisplay() { - unsubscribe(); + MapDisplay::unsubscribe(); clear(); for (unsigned i = 0; i < swatches.size(); i++) { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/map_display.h 1.14.15+dfsg-3/src/rviz/default_plugin/map_display.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/map_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/map_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,10 +33,10 @@ #ifndef Q_MOC_RUN #include -#include -#include -#include -#include +#include +#include +#include +#include #endif #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/marker_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/marker_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/marker_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/marker_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -77,8 +77,10 @@ void MarkerDisplay::onInitialize() queue_size_property_->getInt(), update_nh_); tf_filter_->connectInput(sub_); - tf_filter_->registerCallback(boost::bind(&MarkerDisplay::incomingMarker, this, _1)); - tf_filter_->registerFailureCallback(boost::bind(&MarkerDisplay::failedMarker, this, _1, _2)); + tf_filter_->registerCallback( + boost::bind(&MarkerDisplay::incomingMarker, this, boost::placeholders::_1)); + tf_filter_->registerFailureCallback( + boost::bind(&MarkerDisplay::failedMarker, this, boost::placeholders::_1, boost::placeholders::_2)); namespace_config_enabled_state_.clear(); } @@ -87,7 +89,7 @@ MarkerDisplay::~MarkerDisplay() { if (initialized()) { - unsubscribe(); + MarkerDisplay::unsubscribe(); clearMarkers(); diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/arrow_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/arrow_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/arrow_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/arrow_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,11 +27,11 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/line_list_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/line_list_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/line_list_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/line_list_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -34,9 +34,9 @@ #include -#include -#include -#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/line_strip_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/line_strip_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/line_strip_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/line_strip_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,9 +36,9 @@ #include -#include -#include -#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_base.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_base.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_base.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_base.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -34,11 +34,11 @@ #include "marker_selection_handler.h" #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_base.h 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_base.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_base.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_base.h 2022-08-01 08:39:42.000000000 +0000 @@ -39,7 +39,7 @@ #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_selection_handler.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_selection_handler.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/marker_selection_handler.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/marker_selection_handler.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/mesh_resource_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/mesh_resource_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/mesh_resource_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/mesh_resource_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,14 +36,14 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/mesh_resource_marker.h 1.14.15+dfsg-3/src/rviz/default_plugin/markers/mesh_resource_marker.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/mesh_resource_marker.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/mesh_resource_marker.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include "marker_base.h" -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/points_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/points_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/points_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/points_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,10 +35,10 @@ #include -#include -#include -#include -#include +#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/shape_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/shape_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/shape_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/shape_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,8 +36,8 @@ #include -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/text_view_facing_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/text_view_facing_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/text_view_facing_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/text_view_facing_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/triangle_list_marker.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/markers/triangle_list_marker.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/triangle_list_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/triangle_list_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -37,12 +37,12 @@ #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/markers/triangle_list_marker.h 1.14.15+dfsg-3/src/rviz/default_plugin/markers/triangle_list_marker.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/markers/triangle_list_marker.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/markers/triangle_list_marker.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,8 +30,8 @@ #ifndef RVIZ_TRIANGLE_LIST_MARKER_H #define RVIZ_TRIANGLE_LIST_MARKER_H -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/odometry_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/odometry_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/odometry_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/odometry_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,8 +36,8 @@ #include #include -#include -#include +#include +#include #include "odometry_display.h" #include "covariance_property.h" diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/path_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/path_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/path_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/path_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,13 +27,12 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud2_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud2_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud2_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud2_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -50,6 +50,7 @@ PointCloud2Display::PointCloud2Display() PointCloud2Display::~PointCloud2Display() { + PointCloud2Display::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_common.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_common.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_common.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_common.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,9 +29,9 @@ #include -#include -#include -#include +#include +#include +#include #include @@ -380,6 +380,9 @@ void PointCloudCommon::initialize(Displa PointCloudCommon::~PointCloudCommon() { + // Ensure any threads holding the mutexes have finished + boost::recursive_mutex::scoped_lock lock1(transformers_mutex_); + boost::mutex::scoped_lock lock2(new_clouds_mutex_); delete transformer_class_loader_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -48,6 +48,7 @@ PointCloudDisplay::PointCloudDisplay() : PointCloudDisplay::~PointCloudDisplay() { + PointCloudDisplay::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_transformer.h 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_transformer.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_transformer.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_transformer.h 2022-08-01 08:39:42.000000000 +0000 @@ -35,8 +35,8 @@ #include #ifndef Q_MOC_RUN -#include -#include +#include +#include #include #endif diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_transformers.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_transformers.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_cloud_transformers.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_cloud_transformers.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,9 +27,9 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,5 +1,5 @@ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_visual.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/point_visual.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_visual.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_visual.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,6 +1,6 @@ -#include -#include -#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/point_visual.h 1.14.15+dfsg-3/src/rviz/default_plugin/point_visual.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/point_visual.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/point_visual.h 2022-08-01 08:39:42.000000000 +0000 @@ -3,7 +3,7 @@ #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/polygon_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/polygon_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/polygon_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/polygon_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,10 +27,9 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/pose_array_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/pose_array_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/pose_array_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/pose_array_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,9 +27,9 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/pose_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/pose_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/pose_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/pose_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/pose_with_covariance_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/pose_with_covariance_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/pose_with_covariance_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/pose_with_covariance_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/range_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/range_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/range_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/range_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/relative_humidity_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/relative_humidity_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/relative_humidity_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/relative_humidity_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -50,6 +50,7 @@ RelativeHumidityDisplay::RelativeHumidit RelativeHumidityDisplay::~RelativeHumidityDisplay() { + RelativeHumidityDisplay::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/robot_model_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/robot_model_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/robot_model_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/robot_model_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include @@ -205,7 +205,8 @@ void RobotModelDisplay::load() QString("Errors loading geometries:").append(ss.str().c_str())); robot_->update(TFLinkUpdater(context_->getFrameManager(), - boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this), + boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1, + boost::placeholders::_2, boost::placeholders::_3, this), tf_prefix_property_->getStdString())); } @@ -230,7 +231,8 @@ void RobotModelDisplay::update(float wal if (has_new_transforms_ || update) { robot_->update(TFLinkUpdater(context_->getFrameManager(), - boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this), + boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1, + boost::placeholders::_2, boost::placeholders::_3, this), tf_prefix_property_->getStdString())); context_->queueRender(); diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/robot_model_display.h 1.14.15+dfsg-3/src/rviz/default_plugin/robot_model_display.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/robot_model_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/robot_model_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/screw_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/screw_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/screw_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/screw_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,5 +1,5 @@ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/screw_visual.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/screw_visual.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/screw_visual.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/screw_visual.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,6 +1,6 @@ -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/screw_visual.h 1.14.15+dfsg-3/src/rviz/default_plugin/screw_visual.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/screw_visual.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/screw_visual.h 2022-08-01 08:39:42.000000000 +0000 @@ -2,7 +2,7 @@ #define SCREW_VISUAL_H #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/temperature_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/temperature_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/temperature_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/temperature_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include @@ -50,6 +50,7 @@ TemperatureDisplay::TemperatureDisplay() TemperatureDisplay::~TemperatureDisplay() { + TemperatureDisplay::unsubscribe(); delete point_cloud_common_; } diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tf_display.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tf_display.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tf_display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tf_display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,10 +27,10 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include +#include -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tf_display.h 1.14.15+dfsg-3/src/rviz/default_plugin/tf_display.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/tf_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tf_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,8 +33,8 @@ #include #include -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/focus_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/focus_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/focus_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/focus_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,10 +27,10 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/interaction_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/interaction_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/interaction_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/interaction_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,11 +27,11 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/measure_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/measure_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/measure_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/measure_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -41,7 +41,7 @@ #include #include -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/measure_tool.h 1.14.15+dfsg-3/src/rviz/default_plugin/tools/measure_tool.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/measure_tool.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/measure_tool.h 2022-08-01 08:39:42.000000000 +0000 @@ -38,7 +38,7 @@ #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/point_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/point_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/point_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/point_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/pose_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/pose_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/pose_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/pose_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,10 +27,10 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/pose_tool.h 1.14.15+dfsg-3/src/rviz/default_plugin/tools/pose_tool.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/pose_tool.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/pose_tool.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,7 +30,7 @@ #ifndef RVIZ_POSE_TOOL_H #define RVIZ_POSE_TOOL_H -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/tools/selection_tool.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/tools/selection_tool.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/tools/selection_tool.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/tools/selection_tool.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,16 +29,16 @@ #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,12 +27,12 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.h 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fps_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fps_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/fps_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/fps_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,9 +35,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/frame_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/frame_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/frame_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/frame_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,9 +35,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #include @@ -48,7 +48,7 @@ static const QString ANY_AXIS("arbitrary // helper function to create axis strings from option ID inline QString fmtAxis(int i) { - return QStringLiteral("%1%2 axis").arg(QChar(i % 2 ? '+' : '-')).arg(QChar('x' + (i - 1) / 2)); + return QString("%1%2 axis").arg(QChar(i % 2 ? '+' : '-')).arg(QChar('x' + (i - 1) / 2)); } FrameViewController::FrameViewController() diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/orbit_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/orbit_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/orbit_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/orbit_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,12 +29,12 @@ #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -137,25 +137,20 @@ void OrbitViewController::handleMouseEve int32_t diff_x = 0; int32_t diff_y = 0; - bool moved = false; - if (event.type == QEvent::MouseButtonPress) { focal_shape_->getRootNode()->setVisible(true); - moved = true; dragging_ = true; } else if (event.type == QEvent::MouseButtonRelease) { focal_shape_->getRootNode()->setVisible(false); - moved = true; dragging_ = false; } else if (dragging_ && event.type == QEvent::MouseMove) { diff_x = event.x - event.last_x; diff_y = event.y - event.last_y; - moved = true; } // regular left-button drag @@ -198,8 +193,6 @@ void OrbitViewController::handleMouseEve setCursor(event.shift() ? MoveXY : Rotate3D); } - moved = true; - if (event.wheel_delta != 0) { int diff = event.wheel_delta; @@ -211,14 +204,9 @@ void OrbitViewController::handleMouseEve { zoom(diff * 0.001 * distance); } - - moved = true; } - if (moved) - { - context_->queueRender(); - } + context_->queueRender(); } void OrbitViewController::mimic(ViewController* source_view) diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/orbit_view_controller.h 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/orbit_view_controller.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/orbit_view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/orbit_view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,7 +30,7 @@ #ifndef RVIZ_ORBIT_VIEW_CONTROLLER_H #define RVIZ_ORBIT_VIEW_CONTROLLER_H -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,14 +31,14 @@ #include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.h 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/third_person_follower_view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.cpp 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,13 +31,13 @@ #include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.h 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.h --- 1.14.14+dfsg-2/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/default_plugin/view_controllers/xy_orbit_view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/display.cpp 1.14.15+dfsg-3/src/rviz/display.cpp --- 1.14.14+dfsg-2/src/rviz/display.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/display.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,8 +36,8 @@ #include #include -#include -#include +#include +#include #include #include @@ -60,7 +60,7 @@ Display::Display() , visibility_bits_(0xFFFFFFFF) , associated_widget_(nullptr) , associated_widget_panel_(nullptr) - , associated_widget_visible_(false) + , suppress_hiding_associated_widget_panel_(false) { // Needed for timeSignal (see header) to work across threads qRegisterMetaType(); @@ -284,7 +284,7 @@ void Display::setFixedFrame(const QStrin void Display::emitTimeSignal(ros::Time time) { - Q_EMIT(timeSignal(this, time)); + Q_EMIT(timeSignal(time, QPrivateSignal())); } void Display::reset() @@ -311,10 +311,7 @@ void Display::onEnableChanged() scene_node_->setVisible(true); if (associated_widget_panel_) - { - if (!associated_widget_visible_) - associated_widget_panel_->show(); - } + associated_widget_panel_->show(); else if (associated_widget_) associated_widget_->show(); @@ -327,7 +324,7 @@ void Display::onEnableChanged() if (associated_widget_panel_) { - if (associated_widget_visible_) + if (!suppress_hiding_associated_widget_panel_) associated_widget_panel_->hide(); } else if (associated_widget_) @@ -366,7 +363,6 @@ void Display::setAssociatedWidget(QWidge if (wm) { associated_widget_panel_ = wm->addPane(getName(), associated_widget_); - associated_widget_visible_ = true; connect(associated_widget_panel_, SIGNAL(visibilityChanged(bool)), this, SLOT(associatedPanelVisibilityChange(bool))); connect(associated_widget_panel_, SIGNAL(closed()), this, SLOT(disable())); @@ -386,9 +382,10 @@ void Display::setAssociatedWidget(QWidge void Display::associatedPanelVisibilityChange(bool visible) { - associated_widget_visible_ = visible; // If something external makes the panel visible/invisible, make sure to enable/disable the display + suppress_hiding_associated_widget_panel_ = true; setEnabled(visible); + suppress_hiding_associated_widget_panel_ = false; // Remark: vice versa, in Display::onEnableChanged(), // the panel is made visible/invisible when the display is enabled/disabled } diff -pruN 1.14.14+dfsg-2/src/rviz/display_group.cpp 1.14.15+dfsg-3/src/rviz/display_group.cpp --- 1.14.14+dfsg-2/src/rviz/display_group.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/display_group.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -46,7 +46,7 @@ DisplayGroup::DisplayGroup() DisplayGroup::~DisplayGroup() { - removeAllDisplays(); + DisplayGroup::removeAllDisplays(); } Qt::ItemFlags DisplayGroup::getViewFlags(int column) const diff -pruN 1.14.14+dfsg-2/src/rviz/display.h 1.14.15+dfsg-3/src/rviz/display.h --- 1.14.14+dfsg-2/src/rviz/display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/display.h 2022-08-01 08:39:42.000000000 +0000 @@ -225,7 +225,7 @@ public: Q_SIGNALS: - void timeSignal(rviz::Display* display, ros::Time time); + void timeSignal(ros::Time time, QPrivateSignal); public Q_SLOTS: /** @brief Enable or disable this Display. @@ -328,7 +328,7 @@ private: uint32_t visibility_bits_; QWidget* associated_widget_; PanelDockWidget* associated_widget_panel_; - bool associated_widget_visible_; + bool suppress_hiding_associated_widget_panel_; }; } // end namespace rviz diff -pruN 1.14.14+dfsg-2/src/rviz/displays_panel.cpp 1.14.15+dfsg-3/src/rviz/displays_panel.cpp --- 1.14.14+dfsg-2/src/rviz/displays_panel.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/displays_panel.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -36,7 +36,7 @@ #include #include -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/frame_manager.cpp 1.14.15+dfsg-3/src/rviz/frame_manager.cpp --- 1.14.14+dfsg-2/src/rviz/frame_manager.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/frame_manager.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -59,32 +59,30 @@ FrameManager::~FrameManager() void FrameManager::update() { - boost::mutex::scoped_lock lock(cache_mutex_); - if (!pause_) + if (pause_) + return; + else { + boost::mutex::scoped_lock lock(cache_mutex_); cache_.clear(); - } - - if (!pause_) - { switch (sync_mode_) { - case SyncOff: + case SyncOff: // always use latest time sync_time_ = ros::Time::now(); break; - case SyncExact: + case SyncExact: // sync to external source + // sync_time_ set via syncTime() break; case SyncApprox: - // adjust current time offset to sync source - current_delta_ = 0.7 * current_delta_ + 0.3 * sync_delta_; - try - { - sync_time_ = ros::Time::now() - ros::Duration(current_delta_); - } - catch (...) - { - sync_time_ = ros::Time::now(); - } + // sync_delta is a sliding average of current_delta_, i.e. + // approximating the average delay of incoming sync messages w.r.t. current time + sync_delta_ = 0.7 * sync_delta_ + 0.3 * current_delta_; + // date back sync_time_ to ensure finding TFs that are as old as now() - sync_delta_ + sync_time_ = ros::Time::now() - ros::Duration(sync_delta_); + break; + case SyncFrame: // sync to current time + // date back sync_time_ to ensure finding TFs that are as old as now() - sync_delta_ + sync_time_ = ros::Time::now() - ros::Duration(sync_delta_); break; } } @@ -98,7 +96,6 @@ void FrameManager::setFixedFrame(const s if (fixed_frame_ != frame) { fixed_frame_ = frame; - fixed_frame_id_ = tf_buffer_->_lookupFrameNumber(fixed_frame_); cache_.clear(); should_emit = true; } @@ -119,8 +116,8 @@ void FrameManager::setSyncMode(SyncMode { sync_mode_ = mode; sync_time_ = ros::Time(0); - current_delta_ = 0; sync_delta_ = 0; + current_delta_ = 0; } void FrameManager::syncTime(ros::Time time) @@ -128,6 +125,7 @@ void FrameManager::syncTime(ros::Time ti switch (sync_mode_) { case SyncOff: + case SyncFrame: break; case SyncExact: sync_time_ = time; @@ -135,13 +133,13 @@ void FrameManager::syncTime(ros::Time ti case SyncApprox: if (time == ros::Time(0)) { - sync_delta_ = 0; + current_delta_ = 0; return; } - // avoid exception due to negative time - if (ros::Time::now() >= time) + if (ros::Time::now() >= time) // avoid exception due to negative time { - sync_delta_ = (ros::Time::now() - time).toSec(); + // estimate delay of sync message w.r.t. current time + current_delta_ = (ros::Time::now() - time).toSec(); } else { @@ -151,48 +149,22 @@ void FrameManager::syncTime(ros::Time ti } } -bool FrameManager::adjustTime(const std::string& frame, ros::Time& time) +void FrameManager::adjustTime(ros::Time& time) { // we only need to act if we get a zero timestamp, which means "latest" if (time != ros::Time()) - { - return true; - } + return; switch (sync_mode_) { case SyncOff: break; + case SyncFrame: case SyncExact: + case SyncApprox: time = sync_time_; break; - case SyncApprox: - { - // if we don't have tf info for the given timestamp, use the latest available - ros::Time latest_time; - std::string error_string; - int error_code; - if (fixed_frame_id_ == 0) // we couldn't resolve the fixed_frame_id yet - fixed_frame_id_ = tf_buffer_->_lookupFrameNumber(fixed_frame_); - - error_code = tf_buffer_->_getLatestCommonTime(fixed_frame_id_, tf_buffer_->_lookupFrameNumber(frame), - latest_time, &error_string); - - if (error_code != 0) - { - ROS_ERROR("Error getting latest time from frame '%s' to frame '%s': %s (Error code: %d)", - frame.c_str(), fixed_frame_.c_str(), error_string.c_str(), error_code); - return false; - } - - if (latest_time > sync_time_) - { - time = sync_time_; - } - } - break; } - return true; } @@ -201,10 +173,7 @@ bool FrameManager::getTransform(const st Ogre::Vector3& position, Ogre::Quaternion& orientation) { - if (!adjustTime(frame, time)) - { - return false; - } + adjustTime(time); boost::mutex::scoped_lock lock(cache_mutex_); @@ -243,10 +212,7 @@ bool FrameManager::transform(const std:: Ogre::Vector3& position, Ogre::Quaternion& orientation) { - if (!adjustTime(frame, time)) - { - return false; - } + adjustTime(time); position = Ogre::Vector3::ZERO; orientation = Ogre::Quaternion::IDENTITY; @@ -261,7 +227,20 @@ bool FrameManager::transform(const std:: { tf2::doTransform(pose, pose, tf_buffer_->lookupTransform(fixed_frame_, frame, time)); } - catch (std::runtime_error& e) + catch (const tf2::ExtrapolationException& e) + { + if (sync_mode_ == SyncApprox) + return false; + // We don't have tf info for sync_time_. Reset sync_time_ to latest available time of frame + auto tf = tf_buffer_->lookupTransform(frame, frame, ros::Time()); + if (sync_time_ > tf.header.stamp && tf.header.stamp != ros::Time()) + { + sync_delta_ += (sync_time_ - tf.header.stamp).toSec(); // increase sync delta by observed amount + sync_time_ = tf.header.stamp; + } + return false; + } + catch (const std::runtime_error& e) { ROS_DEBUG("Error transforming from frame '%s' to frame '%s': %s", frame.c_str(), fixed_frame_.c_str(), e.what()); @@ -292,10 +271,7 @@ bool FrameManager::frameHasProblems(cons bool FrameManager::transformHasProblems(const std::string& frame, ros::Time time, std::string& error) { - if (!adjustTime(frame, time)) - { - return false; - } + adjustTime(time); std::string tf_error; bool transform_succeeded = tf_buffer_->canTransform(fixed_frame_, frame, time, &tf_error); diff -pruN 1.14.14+dfsg-2/src/rviz/frame_manager.h 1.14.15+dfsg-3/src/rviz/frame_manager.h --- 1.14.14+dfsg-2/src/rviz/frame_manager.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/frame_manager.h 2022-08-01 08:39:42.000000000 +0000 @@ -38,8 +38,8 @@ #include #include -#include -#include +#include +#include #include @@ -67,9 +67,10 @@ class FrameManager : public QObject public: enum SyncMode { - SyncOff = 0, - SyncExact, - SyncApprox + SyncOff = 0, // use latest TF updates + SyncExact, // sync to incoming messages of a display (emitting timeSignal()) + SyncApprox, + SyncFrame, // synchronize frame lookups to start of update() loop }; /// Constructor, will create a TransformListener (and Buffer) automatically if not provided @@ -192,9 +193,11 @@ public: template void registerFilterForTransformStatusCheck(tf2_ros::MessageFilter* filter, Display* display) { - filter->registerCallback(boost::bind(&FrameManager::messageCallback, this, _1, display)); - filter->registerFailureCallback(boost::bind( - &FrameManager::failureCallback, this, _1, _2, display)); + filter->registerCallback( + boost::bind(&FrameManager::messageCallback, this, boost::placeholders::_1, display)); + filter->registerFailureCallback( + boost::bind(&FrameManager::failureCallback, this, + boost::placeholders::_1, boost::placeholders::_2, display)); } /** @brief Return the current fixed frame name. */ @@ -227,7 +230,7 @@ Q_SIGNALS: void fixedFrameChanged(); private: - bool adjustTime(const std::string& frame, ros::Time& time); + void adjustTime(ros::Time& time); template void messageCallback(const ros::MessageEvent& msg_evt, Display* display) @@ -304,7 +307,6 @@ private: std::shared_ptr tf_buffer_; std::shared_ptr tf_listener_; std::string fixed_frame_; - tf2::CompactFrameID fixed_frame_id_; bool pause_; @@ -314,8 +316,8 @@ private: ros::Time sync_time_; // used for approx. syncing - double sync_delta_; - double current_delta_; + double current_delta_; // current time delay between received sync msg's time stamp and now() + double sync_delta_; // sliding average of current_delta_, used to compute sync_time_ }; } // namespace rviz diff -pruN 1.14.14+dfsg-2/src/rviz/frame_position_tracking_view_controller.cpp 1.14.15+dfsg-3/src/rviz/frame_position_tracking_view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/frame_position_tracking_view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/frame_position_tracking_view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,9 +27,9 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/frame_position_tracking_view_controller.h 1.14.15+dfsg-3/src/rviz/frame_position_tracking_view_controller.h --- 1.14.14+dfsg-2/src/rviz/frame_position_tracking_view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/frame_position_tracking_view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,8 +30,8 @@ #ifndef RVIZ_FRAME_POSITION_TRACKING_VIEW_CONTROLLER_H #define RVIZ_FRAME_POSITION_TRACKING_VIEW_CONTROLLER_H -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/geometry.cpp 1.14.15+dfsg-3/src/rviz/geometry.cpp --- 1.14.14+dfsg-2/src/rviz/geometry.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/geometry.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,11 +27,11 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include "geometry.h" diff -pruN 1.14.14+dfsg-2/src/rviz/geometry.h 1.14.15+dfsg-3/src/rviz/geometry.h --- 1.14.14+dfsg-2/src/rviz/geometry.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/geometry.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,7 +30,7 @@ #ifndef GEOMETRY_H #define GEOMETRY_H -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/image/image_display_base.cpp 1.14.15+dfsg-3/src/rviz/image/image_display_base.cpp --- 1.14.14+dfsg-2/src/rviz/image/image_display_base.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/image/image_display_base.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -70,7 +70,7 @@ ImageDisplayBase::ImageDisplayBase() : D ImageDisplayBase::~ImageDisplayBase() { - unsubscribe(); + ImageDisplayBase::unsubscribe(); } void ImageDisplayBase::onInitialize() @@ -181,15 +181,18 @@ void ImageDisplayBase::subscribe() if (targetFrame_.empty()) { - sub_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1)); + sub_->registerCallback( + boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1)); } else { tf_filter_.reset(new tf2_ros::MessageFilter( *sub_, *context_->getTF2BufferPtr(), targetFrame_, queue_size_property_->getInt(), update_nh_)); - tf_filter_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1)); - tf_filter_->registerFailureCallback(boost::bind(&ImageDisplayBase::failedMessage, this, _1, _2)); + tf_filter_->registerCallback( + boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1)); + tf_filter_->registerFailureCallback(boost::bind( + &ImageDisplayBase::failedMessage, this, boost::placeholders::_1, boost::placeholders::_2)); } } setStatus(StatusProperty::Ok, "Topic", "OK"); diff -pruN 1.14.14+dfsg-2/src/rviz/image/ros_image_texture.cpp 1.14.15+dfsg-3/src/rviz/image/ros_image_texture.cpp --- 1.14.14+dfsg-2/src/rviz/image/ros_image_texture.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/image/ros_image_texture.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,7 +35,7 @@ #include #include -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/image/ros_image_texture.h 1.14.15+dfsg-3/src/rviz/image/ros_image_texture.h --- 1.14.14+dfsg-2/src/rviz/image/ros_image_texture.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/image/ros_image_texture.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,9 +32,9 @@ #include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/mesh_loader.cpp 1.14.15+dfsg-3/src/rviz/mesh_loader.cpp --- 1.14.14+dfsg-2/src/rviz/mesh_loader.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/mesh_loader.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -28,28 +28,28 @@ */ #include "mesh_loader.h" -#include +#include #include #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -271,7 +271,7 @@ void buildMesh(const aiScene* scene, if (input_mesh->HasTextureCoords(0)) { vertex_decl->addElement(0, offset, Ogre::VET_FLOAT2, Ogre::VES_TEXTURE_COORDINATES, 0); - offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2); + // offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2); } // todo vertex colors @@ -700,8 +700,7 @@ Ogre::SkeletonPtr loadSkeletonFromResour Ogre::SkeletonSerializer ser; Ogre::DataStreamPtr stream(new Ogre::MemoryDataStream(res.data.get(), res.size)); Ogre::SkeletonPtr skeleton = Ogre::SkeletonManager::getSingleton().create( - skeleton_path.filename().string().c_str(), - Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true); + skeleton_path.filename().string(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true); ser.importSkeleton(stream, skeleton.get()); return skeleton; diff -pruN 1.14.14+dfsg-2/src/rviz/mesh_loader.h 1.14.15+dfsg-3/src/rviz/mesh_loader.h --- 1.14.14+dfsg-2/src/rviz/mesh_loader.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/mesh_loader.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,8 +30,8 @@ #ifndef RVIZ_MESH_LOADER_H #define RVIZ_MESH_LOADER_H -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/message_filter_display.h 1.14.15+dfsg-3/src/rviz/message_filter_display.h --- 1.14.14+dfsg-2/src/rviz/message_filter_display.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/message_filter_display.h 2022-08-01 08:39:42.000000000 +0000 @@ -111,7 +111,7 @@ public: tf_filter_->connectInput(sub_); tf_filter_->registerCallback( - boost::bind(&MessageFilterDisplay::incomingMessage, this, _1)); + boost::bind(&MessageFilterDisplay::incomingMessage, this, boost::placeholders::_1)); context_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this); } diff -pruN 1.14.14+dfsg-2/src/rviz/msg_conversions.h 1.14.15+dfsg-3/src/rviz/msg_conversions.h --- 1.14.14+dfsg-2/src/rviz/msg_conversions.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/msg_conversions.h 2022-08-01 08:39:42.000000000 +0000 @@ -29,8 +29,8 @@ #ifndef MSG_CONVERSIONS_H #define MSG_CONVERSIONS_H -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/apply_visibility_bits.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/apply_visibility_bits.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/apply_visibility_bits.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/apply_visibility_bits.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,8 +29,8 @@ #include -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/arrow.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/arrow.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/arrow.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/arrow.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -30,10 +30,10 @@ #include "arrow.h" #include "shape.h" -#include -#include -#include -#include +#include +#include +#include +#include #include @@ -60,7 +60,7 @@ Arrow::Arrow(Ogre::SceneManager* scene_m set(shaft_length, shaft_diameter, head_length, head_diameter); - setOrientation(Ogre::Quaternion::IDENTITY); + Arrow::setOrientation(Ogre::Quaternion::IDENTITY); } Arrow::~Arrow() diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/arrow.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/arrow.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/arrow.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/arrow.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #ifndef OGRE_TOOLS_ARROW_H #define OGRE_TOOLS_ARROW_H -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/axes.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/axes.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/axes.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/axes.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -30,10 +30,10 @@ #include "axes.h" #include "shape.h" -#include -#include -#include -#include +#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/axes.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/axes.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/axes.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/axes.h 2022-08-01 08:39:42.000000000 +0000 @@ -38,8 +38,8 @@ #include -#include -#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/billboard_line.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/billboard_line.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/billboard_line.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/billboard_line.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,13 +29,13 @@ #include "billboard_line.h" -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/billboard_line.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/billboard_line.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/billboard_line.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/billboard_line.h 2022-08-01 08:39:42.000000000 +0000 @@ -35,10 +35,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/camera_base.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/camera_base.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/camera_base.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/camera_base.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,11 +29,11 @@ #include "camera_base.h" -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/camera_base.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/camera_base.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/camera_base.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/camera_base.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,8 +30,8 @@ #ifndef OGRE_TOOLS_CAMERA_BASE_H_ #define OGRE_TOOLS_CAMERA_BASE_H_ -#include -#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/compatibility.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/compatibility.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/compatibility.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/compatibility.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,13 +32,13 @@ #define OGRE_HELPERS_COMPATIBILITY_H #include -#include +#include +#include -#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 0) -#include +#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 8) +#include #else -#include -#include +#include #endif #include @@ -48,14 +48,14 @@ namespace rviz /* This header provides helper functions to maintain compatibility with Ogre versions 1.9 ... 1.12+. * * setMaterial() allows setting the material of a renderable by either name or MaterialPtr. - * OGRE 1.10 added: renderable.setMaterial(const Ogre::MaterialPtr &) + * OGRE 1.10.8 added: renderable.setMaterial(const Ogre::MaterialPtr &) * OGRE 1.11 removed: renderable.setMaterial(const std::string &) * * removeAndDestroyChildNode(parent, child) allows removal of a SceneNode*. - * OGRE 1.10 added: SceneNode::removeAndDestroyChild(SceneNode* child) + * OGRE 1.10.8 added: SceneNode::removeAndDestroyChild(SceneNode* child) */ -#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 0) +#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 8) inline void setMaterial(Ogre::SimpleRenderable& renderable, const std::string& material_name) { renderable.setMaterial(material_name); @@ -85,7 +85,7 @@ inline void setMaterial(Ogre::SimpleRend } #endif -#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 0) +#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 10, 8) inline void removeAndDestroyChildNode(Ogre::SceneNode* parent, Ogre::SceneNode* child) { child->removeAndDestroyAllChildren(); diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/grid.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/grid.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/grid.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/grid.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -30,13 +30,13 @@ #include "grid.h" #include "billboard_line.h" -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/grid.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/grid.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/grid.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/grid.h 2022-08-01 08:39:42.000000000 +0000 @@ -34,9 +34,9 @@ #include -#include -#include -#include +#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/initialization.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/initialization.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/initialization.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/initialization.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -1,7 +1,7 @@ #include "initialization.h" -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/line.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/line.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/line.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/line.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,11 +31,11 @@ #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/line.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/line.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/line.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/line.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,9 +32,9 @@ #include "object.h" -#include -#include -#include +#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/mesh_shape.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/mesh_shape.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/mesh_shape.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/mesh_shape.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,13 +29,13 @@ #include "mesh_shape.h" -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/movable_text.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/movable_text.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/movable_text.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/movable_text.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -42,20 +42,16 @@ #include "movable_text.h" #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 12, 0) -#include -#else -#include -#endif +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -466,6 +462,7 @@ void MovableText::_updateColors() { assert(mpFont); assert(!mpMaterial.isNull()); + assert(mRenderOp.vertexData); // Convert to system-specific RGBA color; diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/movable_text.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/movable_text.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/movable_text.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/movable_text.h 2022-08-01 08:39:42.000000000 +0000 @@ -43,10 +43,9 @@ #define OGRE_TOOLS_MOVABLE_TEXT_H #include -#include -#include -#include -#include +#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/object.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/object.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/object.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/object.h 2022-08-01 08:39:42.000000000 +0000 @@ -31,7 +31,7 @@ #define OGRE_TOOLS_OBJECT_H #include -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_logging.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_logging.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_logging.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_logging.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -27,8 +27,8 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_render_queue_clearer.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_render_queue_clearer.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_render_queue_clearer.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_render_queue_clearer.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,8 +29,8 @@ #include "ogre_render_queue_clearer.h" -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_render_queue_clearer.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_render_queue_clearer.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_render_queue_clearer.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_render_queue_clearer.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,7 +30,7 @@ #ifndef OGRERENDERQUEUECLEARER_H_ #define OGRERENDERQUEUECLEARER_H_ -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_vector.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_vector.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/ogre_vector.h 1970-01-01 00:00:00.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/ogre_vector.h 2022-08-01 08:39:42.000000000 +0000 @@ -0,0 +1,8 @@ +// OgrePrerequisites.h is needed for version_check to work +#include +#include +#if OGRE_VERSION < OGRE_VERSION_CHECK(1, 12, 0) +#include +#else +#include +#endif diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/orbit_camera.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/orbit_camera.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/orbit_camera.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/orbit_camera.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -30,12 +30,12 @@ #include "orbit_camera.h" #include "shape.h" -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -63,7 +63,7 @@ OrbitCamera::OrbitCamera(Ogre::SceneMana focal_point_object_->setColor(1.0f, 1.0f, 0.0f, 0.5f); focal_point_object_->getRootNode()->setVisible(false); - update(); + OrbitCamera::update(); } OrbitCamera::~OrbitCamera() diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/orbit_camera.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/orbit_camera.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/orbit_camera.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/orbit_camera.h 2022-08-01 08:39:42.000000000 +0000 @@ -31,7 +31,7 @@ #define OGRE_TOOLS_ORBIT_CAMERA_H_ #include "camera_base.h" -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/orthographic.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/orthographic.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/orthographic.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/orthographic.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,7 +29,7 @@ #include "orthographic.h" -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/point_cloud.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/point_cloud.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/point_cloud.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/point_cloud.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,19 +31,18 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -446,29 +445,22 @@ void PointCloud::addPoints(Point* points } else { - if (render_mode_ == RM_POINTS) + switch (render_mode_) { + case RM_POINTS: vertices = g_point_vertices; - } - else if (render_mode_ == RM_SQUARES) - { + break; + case RM_SQUARES: + case RM_FLAT_SQUARES: + case RM_TILES: vertices = g_billboard_vertices; - } - else if (render_mode_ == RM_FLAT_SQUARES) - { - vertices = g_billboard_vertices; - } - else if (render_mode_ == RM_SPHERES) - { + break; + case RM_SPHERES: vertices = g_billboard_sphere_vertices; - } - else if (render_mode_ == RM_TILES) - { - vertices = g_billboard_vertices; - } - else if (render_mode_ == RM_BOXES) - { + break; + case RM_BOXES: vertices = g_box_vertices; + break; } } diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/point_cloud.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/point_cloud.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/point_cloud.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/point_cloud.h 2022-08-01 08:39:42.000000000 +0000 @@ -30,16 +30,16 @@ #ifndef OGRE_TOOLS_OGRE_POINT_CLOUD_H #define OGRE_TOOLS_OGRE_POINT_CLOUD_H -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -96,9 +96,9 @@ typedef std::vector -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/qt_ogre_render_window.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/qt_ogre_render_window.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/qt_ogre_render_window.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/qt_ogre_render_window.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,8 +33,8 @@ #include "render_widget.h" -#include -#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_system.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_system.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_system.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_system.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -55,9 +55,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_system.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_system.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_system.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_system.h 2022-08-01 08:39:42.000000000 +0000 @@ -29,7 +29,7 @@ #ifndef RENDER_SYSTEM_H #define RENDER_SYSTEM_H -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_widget.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_widget.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/render_widget.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/render_widget.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,7 +31,7 @@ #include #include -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/shape.cpp 1.14.15+dfsg-3/src/rviz/ogre_helpers/shape.cpp --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/shape.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/shape.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,14 +31,14 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include #include namespace rviz diff -pruN 1.14.14+dfsg-2/src/rviz/ogre_helpers/shape.h 1.14.15+dfsg-3/src/rviz/ogre_helpers/shape.h --- 1.14.14+dfsg-2/src/rviz/ogre_helpers/shape.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/ogre_helpers/shape.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,9 +32,9 @@ #include "object.h" -#include -#include -#include +#include +#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/pluginlib_factory.h 1.14.15+dfsg-3/src/rviz/pluginlib_factory.h --- 1.14.14+dfsg-2/src/rviz/pluginlib_factory.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/pluginlib_factory.h 2022-08-01 08:39:42.000000000 +0000 @@ -43,6 +43,8 @@ #include #include +#include + namespace rviz { template diff -pruN 1.14.14+dfsg-2/src/rviz/properties/display_visibility_property.cpp 1.14.15+dfsg-3/src/rviz/properties/display_visibility_property.cpp --- 1.14.14+dfsg-2/src/rviz/properties/display_visibility_property.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/display_visibility_property.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -50,7 +50,7 @@ DisplayVisibilityProperty::DisplayVisibi , display_(display) { custom_name_ = (name.size() != 0); - update(); + DisplayVisibilityProperty::update(); } DisplayVisibilityProperty::~DisplayVisibilityProperty() diff -pruN 1.14.14+dfsg-2/src/rviz/properties/parse_color.h 1.14.15+dfsg-3/src/rviz/properties/parse_color.h --- 1.14.14+dfsg-2/src/rviz/properties/parse_color.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/parse_color.h 2022-08-01 08:39:42.000000000 +0000 @@ -32,7 +32,7 @@ #include #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/properties/property.cpp 1.14.15+dfsg-3/src/rviz/properties/property.cpp --- 1.14.14+dfsg-2/src/rviz/properties/property.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/property.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -70,7 +70,7 @@ Property::Property(const QString& name, , is_read_only_(false) , save_(true) { - setName(name); + Property::setName(name); if (parent) { parent->addChild(this); diff -pruN 1.14.14+dfsg-2/src/rviz/properties/quaternion_property.h 1.14.15+dfsg-3/src/rviz/properties/quaternion_property.h --- 1.14.14+dfsg-2/src/rviz/properties/quaternion_property.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/quaternion_property.h 2022-08-01 08:39:42.000000000 +0000 @@ -29,7 +29,7 @@ #ifndef QUATERNION_PROPERTY_H #define QUATERNION_PROPERTY_H -#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/properties/splitter_handle.cpp 1.14.15+dfsg-3/src/rviz/properties/splitter_handle.cpp --- 1.14.14+dfsg-2/src/rviz/properties/splitter_handle.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/splitter_handle.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -49,9 +49,7 @@ SplitterHandle::SplitterHandle(QTreeView bool SplitterHandle::eventFilter(QObject* event_target, QEvent* event) { - if (event_target == parent_ && - (event->type() == QEvent::Resize || event->type() == QEvent::LayoutRequest || - event->type() == QEvent::Show)) + if (event_target == parent_ && event->type() == QEvent::Resize) { updateGeometry(); } @@ -61,13 +59,14 @@ bool SplitterHandle::eventFilter(QObject void SplitterHandle::updateGeometry() { int w = 7; - int new_column_width = int(first_column_size_ratio_ * parent_->contentsRect().width()); - parent_->setColumnWidth(0, new_column_width); - parent_->setColumnWidth(1, parent_->viewport()->contentsRect().width() - new_column_width); - - int new_x = new_column_width - w / 2 + parent_->columnViewportPosition(0); - if (new_x != x() || parent_->height() != height()) - setGeometry(new_x, 0, w, parent_->height()); + const auto& content = parent_->contentsRect(); + int new_column_width = int(first_column_size_ratio_ * content.width()); + parent_->header()->resizeSection(0, new_column_width); // fixed size for name column + parent_->header()->resizeSection(1, content.width() - new_column_width); + + int new_x = content.x() + new_column_width - w / 2; + if (new_x != x() || content.height() != height()) + setGeometry(new_x, content.y(), w, content.height()); } void SplitterHandle::setRatio(float ratio) @@ -81,49 +80,60 @@ float SplitterHandle::getRatio() return first_column_size_ratio_; } +void SplitterHandle::setDesiredWidth(int width) +{ + const auto& content = parent_->contentsRect(); + int new_column_width = qBound(parent_->header()->minimumSectionSize(), // minimum + width, // desired + content.width()); // maximum + + if (new_column_width != parent_->header()->sectionSize(0)) + { + first_column_size_ratio_ = new_column_width / (float)content.width(); + updateGeometry(); + } +} + void SplitterHandle::mousePressEvent(QMouseEvent* event) { if (event->button() == Qt::LeftButton) { - // position of mouse press inside this QWidget - x_press_offset_ = event->x(); + // position of mouse press relative to splitter line / the center of the widget + x_press_offset_ = event->x() - width() / 2; } } void SplitterHandle::mouseMoveEvent(QMouseEvent* event) { - int padding = 55; - if (event->buttons() & Qt::LeftButton) { QPoint pos_rel_parent = parent_->mapFromGlobal(event->globalPos()); - - int new_x = pos_rel_parent.x() - x_press_offset_ - parent_->columnViewportPosition(0); - - if (new_x > parent_->width() - width() - padding) - { - new_x = parent_->width() - width() - padding; - } - - if (new_x < padding) - { - new_x = padding; - } - - if (new_x != x()) - { - int new_column_width = new_x + width() / 2 - parent_->contentsRect().x(); - first_column_size_ratio_ = new_column_width / (float)parent_->contentsRect().width(); - updateGeometry(); - } + setDesiredWidth(pos_rel_parent.x() - parent_->contentsRect().x() - x_press_offset_); } } +// adjust splitter position to optimally fit content +void SplitterHandle::mouseDoubleClickEvent(QMouseEvent* /*event*/) +{ + int available_width = parent_->contentsRect().width(); + int default_width = 0.5f * available_width; + // missing width to default + int col0 = static_cast(parent_)->sizeHintForColumn(0) - default_width; + int col1 = static_cast(parent_)->sizeHintForColumn(1) - default_width; + + if (col0 <= 0 && col1 <= 0) // each column fits + setDesiredWidth(default_width); + else if (col0 + col1 <= 0) // both columns fit together, but require a non-default splitting + setDesiredWidth(default_width + col0 + 0.5f * std::abs(col0 + col1)); // uniformly split extra space + else + setDesiredWidth(default_width + col0 - 0.5f * (col0 + col1)); // uniformly cut missing space +} + void SplitterHandle::paintEvent(QPaintEvent* /*event*/) { QPainter painter(this); painter.setPen(color_); - painter.drawLine(1 + width() / 2, 0, 1 + width() / 2, height()); + painter.drawLine(width() / 2, 0, width() / 2, height()); } } // end namespace rviz diff -pruN 1.14.14+dfsg-2/src/rviz/properties/splitter_handle.h 1.14.15+dfsg-3/src/rviz/properties/splitter_handle.h --- 1.14.14+dfsg-2/src/rviz/properties/splitter_handle.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/splitter_handle.h 2022-08-01 08:39:42.000000000 +0000 @@ -53,6 +53,9 @@ public: /** @brief Get the ratio of the parent's left column to the parent widget width. */ float getRatio(); + /** @brief Set desired width of first column - subject to clamping */ + void setDesiredWidth(int width); + /** @brief Catch resize events sent to parent to update splitter's * geometry. Always returns false. */ bool eventFilter(QObject* event_target, QEvent* event) override; @@ -70,6 +73,7 @@ public: protected: void mousePressEvent(QMouseEvent* event) override; void mouseMoveEvent(QMouseEvent* event) override; + void mouseDoubleClickEvent(QMouseEvent* event) override; void paintEvent(QPaintEvent* event) override; private: diff -pruN 1.14.14+dfsg-2/src/rviz/properties/status_list.cpp 1.14.15+dfsg-3/src/rviz/properties/status_list.cpp --- 1.14.14+dfsg-2/src/rviz/properties/status_list.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/status_list.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -37,7 +37,7 @@ namespace rviz { StatusList::StatusList(const QString& name, Property* parent) : StatusProperty("", "", Ok, parent) { - setName(name); + StatusList::setName(name); setShouldBeSaved(false); } diff -pruN 1.14.14+dfsg-2/src/rviz/properties/vector_property.h 1.14.15+dfsg-3/src/rviz/properties/vector_property.h --- 1.14.14+dfsg-2/src/rviz/properties/vector_property.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/properties/vector_property.h 2022-08-01 08:39:42.000000000 +0000 @@ -29,7 +29,7 @@ #ifndef VECTOR_PROPERTY_H #define VECTOR_PROPERTY_H -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/render_panel.cpp 1.14.15+dfsg-3/src/rviz/render_panel.cpp --- 1.14.14+dfsg-2/src/rviz/render_panel.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/render_panel.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -33,8 +33,8 @@ #include -#include -#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/render_panel.h 1.14.15+dfsg-3/src/rviz/render_panel.h --- 1.14.14+dfsg-2/src/rviz/render_panel.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/render_panel.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,7 +33,7 @@ #include "ogre_helpers/qt_ogre_render_window.h" #ifndef Q_MOC_RUN -#include +#include #include #endif diff -pruN 1.14.14+dfsg-2/src/rviz/robot/link_updater.h 1.14.15+dfsg-3/src/rviz/robot/link_updater.h --- 1.14.14+dfsg-2/src/rviz/robot/link_updater.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/link_updater.h 2022-08-01 08:39:42.000000000 +0000 @@ -33,7 +33,7 @@ #include #include -#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot.cpp 1.14.15+dfsg-3/src/rviz/robot/robot.cpp --- 1.14.14+dfsg-2/src/rviz/robot/robot.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -41,12 +41,12 @@ #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -99,7 +99,7 @@ Robot::Robot(Ogre::SceneNode* root_node, Robot::~Robot() { - clear(); + Robot::clear(); scene_manager_->destroySceneNode(root_visual_node_); scene_manager_->destroySceneNode(root_collision_node_); @@ -666,7 +666,6 @@ void Robot::calculateJointCheckboxes() links_with_geom_checked += checked ? 1 : 0; links_with_geom_unchecked += checked ? 0 : 1; } - int links_with_geom = links_with_geom_checked + links_with_geom_unchecked; // check all child links and joints recursively std::vector::const_iterator child_joint_it = link->getChildJointNames().begin(); @@ -685,7 +684,7 @@ void Robot::calculateJointCheckboxes() links_with_geom_unchecked += child_links_with_geom_unchecked; } } - links_with_geom = links_with_geom_checked + links_with_geom_unchecked; + int links_with_geom = links_with_geom_checked + links_with_geom_unchecked; if (!links_with_geom) { @@ -705,13 +704,13 @@ void Robot::update(const LinkUpdater& up { RobotLink* link = link_it->second; - link->setToNormalMaterial(); - Ogre::Vector3 visual_position, collision_position; Ogre::Quaternion visual_orientation, collision_orientation; if (updater.getLinkTransforms(link->getName(), visual_position, visual_orientation, collision_position, collision_orientation)) { + link->setToNormalMaterial(); + // Check if visual_orientation, visual_position, collision_orientation, and collision_position are // NaN. if (visual_orientation.isNaN()) diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot.h 1.14.15+dfsg-3/src/rviz/robot/robot.h --- 1.14.14+dfsg-2/src/rviz/robot/robot.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot.h 2022-08-01 08:39:42.000000000 +0000 @@ -35,13 +35,13 @@ #include #include -#include -#include -#include +#include +#include +#include #include // can be replaced later by urdf_model/types.h -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot_joint.cpp 1.14.15+dfsg-3/src/rviz/robot/robot_joint.cpp --- 1.14.14+dfsg-2/src/rviz/robot/robot_joint.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot_joint.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,7 +31,7 @@ #include #include -#include +#include #include #include @@ -210,7 +210,8 @@ void RobotJoint::calculateJointCheckboxe links_with_geom_unchecked = 0; RobotLink* link = robot_->getLink(child_link_name_); - if (link && link->hasGeometry()) + assert(link); + if (link->hasGeometry()) { bool checked = link->getLinkProperty()->getValue().toBool(); links_with_geom_checked += checked ? 1 : 0; @@ -230,11 +231,9 @@ void RobotJoint::calculateJointCheckboxe } } - std::vector::const_iterator child_joint_it = link->getChildJointNames().begin(); - std::vector::const_iterator child_joint_end = link->getChildJointNames().end(); - for (; child_joint_it != child_joint_end; ++child_joint_it) + for (const std::string& child_joint_name : link->getChildJointNames()) { - RobotJoint* child_joint = robot_->getJoint(*child_joint_it); + RobotJoint* child_joint = robot_->getJoint(child_joint_name); if (child_joint) { int child_links_with_geom; @@ -271,7 +270,8 @@ void RobotJoint::getChildLinkState(int& links_with_geom_unchecked = 0; RobotLink* link = robot_->getLink(child_link_name_); - if (link && link->hasGeometry()) + assert(link); + if (link->hasGeometry()) { bool checked = link->getLinkProperty()->getValue().toBool(); links_with_geom_checked += checked ? 1 : 0; diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot_joint.h 1.14.15+dfsg-3/src/rviz/robot/robot_joint.h --- 1.14.14+dfsg-2/src/rviz/robot/robot_joint.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot_joint.h 2022-08-01 08:39:42.000000000 +0000 @@ -36,10 +36,10 @@ #include #ifndef Q_MOC_RUN -#include -#include -#include -#include +#include +#include +#include +#include #endif #include @@ -48,7 +48,7 @@ #include #include -#include +#include namespace Ogre { diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot_link.cpp 1.14.15+dfsg-3/src/rviz/robot/robot_link.cpp --- 1.14.14+dfsg-2/src/rviz/robot/robot_link.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot_link.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -29,16 +29,16 @@ #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include @@ -163,11 +163,10 @@ RobotLink::RobotLink(Robot* robot, , collision_node_(nullptr) , trail_(nullptr) , axes_(nullptr) - , material_alpha_(1.0) , robot_alpha_(1.0) , only_render_depth_(false) , is_selectable_(true) - , using_color_(false) + , material_mode_flags_(ORIGINAL) { link_property_ = new Property(link->name.c_str(), true, "", nullptr, SLOT(updateVisibility()), this); link_property_->setIcon(rviz::loadPixmap("package://rviz/icons/classes/RobotLink.png")); @@ -202,8 +201,9 @@ RobotLink::RobotLink(Robot* robot, collision_node_ = robot_->getCollisionNode()->createChildSceneNode(); // create material for coloring links + std::string material_name = "robot link " + link->name + ":color material"; color_material_ = Ogre::MaterialPtr(new Ogre::Material( - nullptr, "robot link color material", 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); + nullptr, material_name, 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); color_material_->setReceiveShadows(false); color_material_->getTechnique(0)->setLightingEnabled(true); @@ -383,32 +383,36 @@ void RobotLink::setOnlyRenderDepth(bool void RobotLink::updateAlpha() { float link_alpha = alpha_property_->getFloat(); - M_SubEntityToMaterial::iterator it = materials_.begin(); - M_SubEntityToMaterial::iterator end = materials_.end(); - for (; it != end; ++it) + for (auto& item : materials_) { - const Ogre::MaterialPtr& material = it->second; + Ogre::MaterialPtr& active = item.second.first; + const Ogre::MaterialPtr& original = item.second.second; if (only_render_depth_) { - material->setColourWriteEnabled(false); - material->setDepthWriteEnabled(true); + active->setColourWriteEnabled(false); + active->setDepthWriteEnabled(true); } else { - Ogre::ColourValue color = material->getTechnique(0)->getPass(0)->getDiffuse(); - color.a = robot_alpha_ * material_alpha_ * link_alpha; - material->setDiffuse(color); + Ogre::ColourValue color = active->getTechnique(0)->getPass(0)->getDiffuse(); + const float material_alpha = original->getTechnique(0)->getPass(0)->getDiffuse().a; + color.a = robot_alpha_ * material_alpha * link_alpha; + active->setDiffuse(color); - if (color.a < 0.9998) + if (color.a < 0.9998) // transparent { - material->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - material->setDepthWriteEnabled(false); + active->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + active->setDepthWriteEnabled(false); } - else + else if (active == original) + { + active->setSceneBlending(Ogre::SBT_REPLACE); + active->setDepthWriteEnabled(true); + } + else // restore original material { - material->setSceneBlending(Ogre::SBT_REPLACE); - material->setDepthWriteEnabled(true); + original->copyDetailsTo(active); } } } @@ -456,9 +460,6 @@ void RobotLink::updateVisibility() Ogre::MaterialPtr RobotLink::getMaterialForLink(const urdf::LinkConstSharedPtr& link, urdf::MaterialConstSharedPtr material) { - Ogre::MaterialPtr mat = Ogre::MaterialPtr(new Ogre::Material( - nullptr, "robot link material", 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); - // only the first visual's material actually comprises color values, all others only have the name // hence search for the first visual with given material name (better fix the bug in urdf parser) if (material && !material->name.empty()) @@ -475,6 +476,13 @@ Ogre::MaterialPtr RobotLink::getMaterial if (!material && link->visual && link->visual->material) material = link->visual->material; // fallback to visual's material + std::string name = "robot link " + link->name; + if (material) + name += ":" + material->name; + + Ogre::MaterialPtr mat = Ogre::MaterialPtr( + new Ogre::Material(nullptr, name, 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); + if (!material) { // clone default material (for modification by link) @@ -488,8 +496,6 @@ Ogre::MaterialPtr RobotLink::getMaterial const urdf::Color& col = material->color; mat->getTechnique(0)->setAmbient(col.r * 0.5, col.g * 0.5, col.b * 0.5); mat->getTechnique(0)->setDiffuse(col.r, col.g, col.b, col.a); - - material_alpha_ = col.a; } else { @@ -655,19 +661,18 @@ void RobotLink::createEntityForGeometryE Ogre::SubEntity* sub = entity->getSubEntity(i); const std::string& material_name = sub->getMaterialName(); + Ogre::MaterialPtr active, original; if (material_name == "BaseWhite" || material_name == "BaseWhiteNoLighting") - { - sub->setMaterial(default_material_); - } + original = default_material_; else - { - // create a new material copy for each instance of a RobotLink - Ogre::MaterialPtr mat = Ogre::MaterialPtr(new Ogre::Material( - nullptr, material_name, 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); - *mat = *sub->getMaterial(); - sub->setMaterial(mat); - } - materials_[sub] = sub->getMaterial(); + original = sub->getMaterial(); + + // create a new material copy for each instance of a RobotLink to allow modification per link + active = Ogre::MaterialPtr(new Ogre::Material( + nullptr, material_name, 0, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME)); + *active = *original; + sub->setMaterial(active); + materials_[sub] = std::make_pair(active, original); } } } @@ -896,40 +901,36 @@ void RobotLink::setTransforms(const Ogre void RobotLink::setToErrorMaterial() { - for (size_t i = 0; i < visual_meshes_.size(); i++) - { - visual_meshes_[i]->setMaterialName("BaseWhiteNoLighting", - Ogre::ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME); - } - for (size_t i = 0; i < collision_meshes_.size(); i++) - { - collision_meshes_[i]->setMaterialName("BaseWhiteNoLighting", - Ogre::ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME); - } + setMaterialMode(material_mode_flags_ | ERROR); } void RobotLink::setToNormalMaterial() { - if (using_color_) - { - for (size_t i = 0; i < visual_meshes_.size(); i++) - { - visual_meshes_[i]->setMaterial(color_material_); - } - for (size_t i = 0; i < collision_meshes_.size(); i++) - { - collision_meshes_[i]->setMaterial(color_material_); - } - } - else + setMaterialMode(material_mode_flags_ & ~ERROR); +} + +void RobotLink::setMaterialMode(unsigned char mode_flags) +{ + if (material_mode_flags_ == mode_flags) + return; // nothing to change + + material_mode_flags_ = mode_flags; + + if (mode_flags == ORIGINAL) { - M_SubEntityToMaterial::iterator it = materials_.begin(); - M_SubEntityToMaterial::iterator end = materials_.end(); - for (; it != end; ++it) - { - it->first->setMaterial(it->second); - } + for (const auto& item : materials_) + item.first->setMaterial(item.second.first); + return; } + + auto error_material = Ogre::MaterialManager::getSingleton().getByName( + "BaseWhiteNoLighting", Ogre::ResourceGroupManager::INTERNAL_RESOURCE_GROUP_NAME); + auto material = mode_flags == COLOR ? color_material_ : error_material; + + for (const auto& mesh : visual_meshes_) + mesh->setMaterial(material); + for (const auto& mesh : collision_meshes_) + mesh->setMaterial(material); } void RobotLink::setColor(float red, float green, float blue) @@ -941,14 +942,12 @@ void RobotLink::setColor(float red, floa color_material_->getTechnique(0)->setAmbient(0.5 * color); color_material_->getTechnique(0)->setDiffuse(color); - using_color_ = true; - setToNormalMaterial(); + setMaterialMode(COLOR | (material_mode_flags_ & ERROR)); } void RobotLink::unsetColor() { - using_color_ = false; - setToNormalMaterial(); + setMaterialMode(ORIGINAL | (material_mode_flags_ & ERROR)); } bool RobotLink::setSelectable(bool selectable) diff -pruN 1.14.14+dfsg-2/src/rviz/robot/robot_link.h 1.14.15+dfsg-3/src/rviz/robot/robot_link.h --- 1.14.14+dfsg-2/src/rviz/robot/robot_link.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/robot_link.h 2022-08-01 08:39:42.000000000 +0000 @@ -36,11 +36,11 @@ #include #ifndef Q_MOC_RUN -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #endif #include // can be replaced later by urdf_model/types.h @@ -49,7 +49,7 @@ #include #include -#include +#include namespace Ogre { @@ -79,6 +79,14 @@ typedef boost::shared_ptr M_SubEntityToMaterial; + // maintain the original material of each SubEntity to restore it after unsetColor() + using M_SubEntityToMaterial = + std::map>; M_SubEntityToMaterial materials_; Ogre::MaterialPtr default_material_; std::string default_material_name_; @@ -231,9 +242,7 @@ private: Axes* axes_; - float material_alpha_; ///< If material is not a texture, this saves the alpha value set in the URDF, - /// otherwise is 1.0. - float robot_alpha_; ///< Alpha value from top-level robot alpha Property (set via setRobotAlpha()). + float robot_alpha_; ///< Alpha value from top-level robot alpha Property (set via setRobotAlpha()). bool only_render_depth_; bool is_selectable_; @@ -244,7 +253,7 @@ private: RobotLinkSelectionHandlerPtr selection_handler_; Ogre::MaterialPtr color_material_; - bool using_color_; + unsigned char material_mode_flags_; friend class RobotLinkSelectionHandler; }; diff -pruN 1.14.14+dfsg-2/src/rviz/robot/tf_link_updater.cpp 1.14.15+dfsg-3/src/rviz/robot/tf_link_updater.cpp --- 1.14.14+dfsg-2/src/rviz/robot/tf_link_updater.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/robot/tf_link_updater.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,8 +31,8 @@ #include #include -#include -#include +#include +#include namespace rviz { diff -pruN 1.14.14+dfsg-2/src/rviz/selection/forwards.h 1.14.15+dfsg-3/src/rviz/selection/forwards.h --- 1.14.14+dfsg-2/src/rviz/selection/forwards.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/selection/forwards.h 2022-08-01 08:39:42.000000000 +0000 @@ -34,8 +34,8 @@ #include #include #include -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/selection/selection_handler.cpp 1.14.15+dfsg-3/src/rviz/selection/selection_handler.cpp --- 1.14.14+dfsg-2/src/rviz/selection/selection_handler.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/selection/selection_handler.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -34,12 +34,12 @@ #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/selection/selection_handler.h 1.14.15+dfsg-3/src/rviz/selection/selection_handler.h --- 1.14.14+dfsg-2/src/rviz/selection/selection_handler.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/selection/selection_handler.h 2022-08-01 08:39:42.000000000 +0000 @@ -37,7 +37,7 @@ #include #include -#include +#include #endif #include diff -pruN 1.14.14+dfsg-2/src/rviz/selection/selection_manager.cpp 1.14.15+dfsg-3/src/rviz/selection/selection_manager.cpp --- 1.14.14+dfsg-2/src/rviz/selection/selection_manager.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/selection/selection_manager.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,23 +31,23 @@ #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/selection/selection_manager.h 1.14.15+dfsg-3/src/rviz/selection/selection_manager.h --- 1.14.14+dfsg-2/src/rviz/selection/selection_manager.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/selection/selection_manager.h 2022-08-01 08:39:42.000000000 +0000 @@ -43,12 +43,12 @@ #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #endif #include diff -pruN 1.14.14+dfsg-2/src/rviz/time_panel.cpp 1.14.15+dfsg-3/src/rviz/time_panel.cpp --- 1.14.14+dfsg-2/src/rviz/time_panel.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/time_panel.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -53,17 +53,23 @@ TimePanel::TimePanel(QWidget* parent) : ros_time_label_ = makeTimeLabel(); ros_elapsed_label_ = makeTimeLabel(); - experimental_cb_ = new QCheckBox("Experimental"); - experimental_cb_->setSizePolicy(QSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum)); - - pause_button_ = new QPushButton("Pause"); + pause_button_ = new QPushButton(QIcon::fromTheme("media-playback-pause"), "Pause"); pause_button_->setToolTip("Freeze ROS time."); pause_button_->setCheckable(true); sync_mode_selector_ = new QComboBox(this); sync_mode_selector_->addItem("Off"); + sync_mode_selector_->setItemData(FrameManager::SyncOff, "Display data using latest TF data", + Qt::ToolTipRole); sync_mode_selector_->addItem("Exact"); + sync_mode_selector_->setItemData(FrameManager::SyncExact, "Synchronize TF lookups to a source display", + Qt::ToolTipRole); sync_mode_selector_->addItem("Approximate"); + sync_mode_selector_->setItemData( + FrameManager::SyncApprox, "Synchronize to a source display in a smooth fashion", Qt::ToolTipRole); + sync_mode_selector_->addItem("Frame"); + sync_mode_selector_->setItemData(FrameManager::SyncFrame, "Synchronize TF lookups within a frame", + Qt::ToolTipRole); sync_mode_selector_->setSizeAdjustPolicy(QComboBox::AdjustToContents); sync_mode_selector_->setToolTip( "Allows you to synchronize the ROS time and Tf transforms to a given source."); @@ -73,41 +79,27 @@ TimePanel::TimePanel(QWidget* parent) : sync_source_selector_->setSizeAdjustPolicy(QComboBox::AdjustToContents); sync_source_selector_->setToolTip("Time source to use for synchronization."); - experimental_widget_ = new QWidget(this); - QHBoxLayout* experimental_layout = new QHBoxLayout(this); - experimental_layout->addWidget(pause_button_); - experimental_layout->addWidget(new QLabel("Synchronization:")); - experimental_layout->addWidget(sync_mode_selector_); - experimental_layout->addWidget(new QLabel("Source:")); - experimental_layout->addWidget(sync_source_selector_); - experimental_layout->addSpacing(20); - experimental_layout->setContentsMargins(0, 0, 20, 0); - experimental_widget_->setLayout(experimental_layout); - - old_widget_ = new QWidget(this); - QHBoxLayout* old_layout = new QHBoxLayout(this); - old_layout->addWidget(new QLabel("ROS Elapsed:")); - old_layout->addWidget(ros_elapsed_label_); - old_layout->addWidget(new QLabel("Wall Time:")); - old_layout->addWidget(wall_time_label_); - old_layout->addWidget(new QLabel("Wall Elapsed:")); - old_layout->addWidget(wall_elapsed_label_); - old_layout->setContentsMargins(0, 0, 20, 0); - old_widget_->setLayout(old_layout); - QHBoxLayout* layout = new QHBoxLayout(this); + layout->addWidget(pause_button_); + layout->addSpacing(10); + + layout->addWidget(new QLabel("Synchronization:")); + layout->addWidget(sync_mode_selector_); + layout->addWidget(sync_source_selector_); + layout->addSpacing(10); - layout->addWidget(experimental_widget_); layout->addWidget(new QLabel("ROS Time:")); layout->addWidget(ros_time_label_); - layout->addWidget(old_widget_); - layout->addStretch(100); - layout->addWidget(experimental_cb_); + layout->addWidget(new QLabel("ROS Elapsed:")); + layout->addWidget(ros_elapsed_label_); + layout->addWidget(new QLabel("Wall Time:")); + layout->addWidget(wall_time_label_); + layout->addWidget(new QLabel("Wall Elapsed:")); + layout->addWidget(wall_elapsed_label_); - layout->addStretch(); layout->setContentsMargins(11, 5, 11, 5); + this->setLayout(layout); - connect(experimental_cb_, SIGNAL(toggled(bool)), this, SLOT(experimentalToggled(bool))); connect(pause_button_, SIGNAL(toggled(bool)), this, SLOT(pauseToggled(bool))); connect(sync_mode_selector_, SIGNAL(activated(int)), this, SLOT(syncModeSelected(int))); connect(sync_source_selector_, SIGNAL(activated(int)), this, SLOT(syncSourceSelected(int))); @@ -134,10 +126,6 @@ void TimePanel::load(const Config& confi syncModeSelected(sync_mode); } config.mapGetString("SyncSource", &config_sync_source_); - bool experimental = false; - config.mapGetBool("Experimental", &experimental); - experimental_cb_->setChecked(experimental); - experimentalToggled(experimental); } void TimePanel::save(Config config) const @@ -145,7 +133,6 @@ void TimePanel::save(Config config) cons Panel::save(config); config.mapSetValue("SyncMode", sync_mode_selector_->currentIndex()); config.mapSetValue("SyncSource", sync_source_selector_->currentText()); - config.mapSetValue("Experimental", experimental_cb_->checkState() == Qt::Checked); } void TimePanel::onDisplayAdded(Display* display) @@ -166,8 +153,7 @@ void TimePanel::onDisplayAdded(Display* } else { - connect(display, SIGNAL(timeSignal(rviz::Display*, ros::Time)), this, - SLOT(onTimeSignal(rviz::Display*, ros::Time))); + connect(display, SIGNAL(timeSignal(ros::Time)), this, SLOT(onTimeSignal(ros::Time))); } } @@ -181,8 +167,12 @@ void TimePanel::onDisplayRemoved(Display } } -void TimePanel::onTimeSignal(Display* display, ros::Time time) +void TimePanel::onTimeSignal(ros::Time time) { + Display* display = qobject_cast(sender()); + if (!display) + return; + QString name = display->getName(); int index = sync_source_selector_->findData(QVariant((qulonglong)display)); @@ -235,25 +225,6 @@ void TimePanel::pauseToggled(bool checke vis_manager_->getFrameManager()->setPause(checked); } -void TimePanel::experimentalToggled(bool checked) -{ - old_widget_->setVisible(!checked); - experimental_widget_->setVisible(checked); - if (vis_manager_ && vis_manager_->getFrameManager()) - { - if (!checked) - { - pauseToggled(false); - syncModeSelected(0); - } - else - { - pauseToggled(pause_button_->isChecked()); - syncModeSelected(sync_mode_selector_->currentIndex()); - } - } -} - void TimePanel::syncSourceSelected(int /*index*/) { // clear whatever was loaded from the config @@ -264,7 +235,7 @@ void TimePanel::syncSourceSelected(int / void TimePanel::syncModeSelected(int mode) { vis_manager_->getFrameManager()->setSyncMode((FrameManager::SyncMode)mode); - sync_source_selector_->setEnabled(mode != FrameManager::SyncOff); + sync_source_selector_->setVisible(mode >= FrameManager::SyncExact && mode <= FrameManager::SyncApprox); vis_manager_->notifyConfigChanged(); } diff -pruN 1.14.14+dfsg-2/src/rviz/time_panel.h 1.14.15+dfsg-3/src/rviz/time_panel.h --- 1.14.14+dfsg-2/src/rviz/time_panel.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/time_panel.h 2022-08-01 08:39:42.000000000 +0000 @@ -62,7 +62,6 @@ protected Q_SLOTS: void pauseToggled(bool checked); void syncModeSelected(int index); void syncSourceSelected(int index); - void experimentalToggled(bool checked); /** Read time values from VisualizationManager and update displays. */ void update(); @@ -70,7 +69,7 @@ protected Q_SLOTS: void onDisplayAdded(rviz::Display* display); void onDisplayRemoved(rviz::Display* display); - void onTimeSignal(rviz::Display* display, ros::Time time); + void onTimeSignal(ros::Time time); void load(const Config& config) override; void save(Config config) const override; @@ -82,13 +81,8 @@ protected: /** Fill a single time label with the given time value (in seconds). */ void fillTimeLabel(QLineEdit* label, double time); - QWidget* old_widget_; - QWidget* experimental_widget_; - QString config_sync_source_; - QCheckBox* experimental_cb_; - QPushButton* pause_button_; QComboBox* sync_source_selector_; QComboBox* sync_mode_selector_; diff -pruN 1.14.14+dfsg-2/src/rviz/tool_manager.cpp 1.14.15+dfsg-3/src/rviz/tool_manager.cpp --- 1.14.14+dfsg-2/src/rviz/tool_manager.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/tool_manager.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -149,7 +149,7 @@ void ToolManager::handleChar(QKeyEvent* else { // if no, check if the current tool accesses all key events - if (current_tool_->accessAllKeys()) + if (current_tool_ && current_tool_->accessAllKeys()) { // if yes, pass the key current_tool_->processKeyEvent(event, panel); @@ -161,7 +161,7 @@ void ToolManager::handleChar(QKeyEvent* } } } - else + else if (current_tool_) { // if the incoming key triggers no other tool, // just hand down the key event diff -pruN 1.14.14+dfsg-2/src/rviz/validate_floats.h 1.14.15+dfsg-3/src/rviz/validate_floats.h --- 1.14.14+dfsg-2/src/rviz/validate_floats.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/validate_floats.h 2022-08-01 08:39:42.000000000 +0000 @@ -38,8 +38,8 @@ #include #include #include -#include -#include +#include +#include #include diff -pruN 1.14.14+dfsg-2/src/rviz/validate_quaternions.h 1.14.15+dfsg-3/src/rviz/validate_quaternions.h --- 1.14.14+dfsg-2/src/rviz/validate_quaternions.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/validate_quaternions.h 2022-08-01 08:39:42.000000000 +0000 @@ -31,7 +31,7 @@ #define RVIZ_VALIDATE_QUATERNIONS_H #include -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/view_controller.cpp 1.14.15+dfsg-3/src/rviz/view_controller.cpp --- 1.14.14+dfsg-2/src/rviz/view_controller.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/view_controller.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -31,9 +31,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/view_controller.h 1.14.15+dfsg-3/src/rviz/view_controller.h --- 1.14.14+dfsg-2/src/rviz/view_controller.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/view_controller.h 2022-08-01 08:39:42.000000000 +0000 @@ -36,7 +36,7 @@ #include -#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/visualization_frame.cpp 1.14.15+dfsg-3/src/rviz/visualization_frame.cpp --- 1.14.14+dfsg-2/src/rviz/visualization_frame.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/visualization_frame.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -53,15 +53,15 @@ #include #include -#include +#include #include #include #include #include -#include -#include +#include +#include #include @@ -733,7 +733,7 @@ void VisualizationFrame::loadDisplayConf if (!valid_load_path) { actual_load_path = (fs::path(package_path_) / "default.rviz"); - if (!(valid_load_path = fs::is_regular_file(actual_load_path))) + if (!fs::is_regular_file(actual_load_path)) { ROS_ERROR("Default display config '%s' not found. RViz will be very empty at first.", actual_load_path.c_str()); @@ -1320,6 +1320,23 @@ QWidget* VisualizationFrame::getParentWi return this; } +void VisualizationFrame::onPanelDeleted(QObject* dock) +{ + for (int i = 0; i < custom_panels_.size(); ++i) + { + if (custom_panels_[i].dock == dock) + { + auto& record = custom_panels_[i]; + record.delete_action->deleteLater(); + delete_view_menu_->removeAction(record.delete_action); + delete_view_menu_->setDisabled(delete_view_menu_->actions().isEmpty()); + custom_panels_.removeAt(i); + setDisplayConfigModified(); + return; + } + } +} + void VisualizationFrame::onDeletePanel() { // This should only be called as a SLOT from a QAction in the @@ -1334,13 +1351,6 @@ void VisualizationFrame::onDeletePanel() if (custom_panels_[i].delete_action == action) { delete custom_panels_[i].dock; - custom_panels_.removeAt(i); - setDisplayConfigModified(); - action->deleteLater(); - if (delete_view_menu_->actions().size() == 1 && delete_view_menu_->actions().first() == action) - { - delete_view_menu_->setEnabled(false); - } return; } } @@ -1393,6 +1403,7 @@ QDockWidget* VisualizationFrame::addPane record.panel = panel; record.name = name; record.delete_action = delete_view_menu_->addAction(name, this, SLOT(onDeletePanel())); + connect(record.dock, &QObject::destroyed, this, &VisualizationFrame::onPanelDeleted); custom_panels_.append(record); delete_view_menu_->setEnabled(true); diff -pruN 1.14.14+dfsg-2/src/rviz/visualization_frame.h 1.14.15+dfsg-3/src/rviz/visualization_frame.h --- 1.14.14+dfsg-2/src/rviz/visualization_frame.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/visualization_frame.h 2022-08-01 08:39:42.000000000 +0000 @@ -269,6 +269,7 @@ protected Q_SLOTS: void reset(); + void onPanelDeleted(QObject* dock); void onHelpDestroyed(); void hideLeftDock(bool hide); diff -pruN 1.14.14+dfsg-2/src/rviz/visualization_manager.cpp 1.14.15+dfsg-3/src/rviz/visualization_manager.cpp --- 1.14.14+dfsg-2/src/rviz/visualization_manager.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/visualization_manager.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,18 +35,18 @@ #include #include -#include +#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff -pruN 1.14.14+dfsg-2/src/rviz/visualizer_app.cpp 1.14.15+dfsg-3/src/rviz/visualizer_app.cpp --- 1.14.14+dfsg-2/src/rviz/visualizer_app.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/rviz/visualizer_app.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -33,9 +33,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #ifdef Q_OS_MAC diff -pruN 1.14.14+dfsg-2/src/test/CMakeLists.txt 1.14.15+dfsg-3/src/test/CMakeLists.txt --- 1.14.14+dfsg-2/src/test/CMakeLists.txt 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/CMakeLists.txt 2022-08-01 08:39:42.000000000 +0000 @@ -3,25 +3,16 @@ find_package(rostest REQUIRED) # This is a test utility which publishes images of different types. add_executable(send_images EXCLUDE_FROM_ALL send_images.cpp) -if(NOT WIN32) - set_target_properties(send_images PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(send_images ${catkin_LIBRARIES}) add_dependencies(tests send_images) # This is a test utility which can publish different kinds of markers. add_executable(marker_test EXCLUDE_FROM_ALL marker_test.cpp) -if(NOT WIN32) - set_target_properties(marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(marker_test ${catkin_LIBRARIES}) add_dependencies(tests marker_test) # This is a test utility which can publish different kinds of mesh markers. add_executable(mesh_marker_test EXCLUDE_FROM_ALL mesh_marker_test.cpp) -if(NOT WIN32) - set_target_properties(mesh_marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(mesh_marker_test ${catkin_LIBRARIES}) add_dependencies(tests mesh_marker_test) @@ -53,81 +44,51 @@ catkin_add_gtest(uniform_string_stream_t # This is an example node which serves an rviz logo as an interactive marker. add_executable(rviz_logo_marker EXCLUDE_FROM_ALL rviz_logo_marker.cpp) -if(NOT WIN32) - set_target_properties(rviz_logo_marker PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(rviz_logo_marker ${catkin_LIBRARIES}) add_dependencies(tests rviz_logo_marker) # This is an example node which publishes different kinds of point clouds. add_executable(cloud_test EXCLUDE_FROM_ALL cloud_test.cpp) -if(NOT WIN32) - set_target_properties(cloud_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(cloud_test ${catkin_LIBRARIES}) add_dependencies(tests cloud_test) # This is an example node which serves an interactive marker. add_executable(interactive_marker_test interactive_marker_test.cpp) -if(NOT WIN32) - set_target_properties(interactive_marker_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(interactive_marker_test ${catkin_LIBRARIES}) add_dependencies(tests interactive_marker_test) # This is another example node that publishes images. add_executable(image_test EXCLUDE_FROM_ALL image_test.cpp) -if(NOT WIN32) - set_target_properties(image_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(image_test ${catkin_LIBRARIES}) add_dependencies(tests image_test) # This is a node that sends lots of point clouds. add_executable(send_lots_of_points EXCLUDE_FROM_ALL send_lots_of_points_node.cpp) -if(NOT WIN32) - set_target_properties(send_lots_of_points PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(send_lots_of_points ${catkin_LIBRARIES}) add_dependencies(tests send_lots_of_points) # Yet another example which sends point clouds. add_executable(send_point_cloud_2 EXCLUDE_FROM_ALL send_point_cloud_2.cpp) -if(NOT WIN32) - set_target_properties(send_point_cloud_2 PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(send_point_cloud_2 ${catkin_LIBRARIES}) add_dependencies(tests send_point_cloud_2) # This is a node which sends grid cells. add_executable(send_grid_cells EXCLUDE_FROM_ALL send_grid_cells_node.cpp) -if(NOT WIN32) - set_target_properties(send_grid_cells PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(send_grid_cells ${catkin_LIBRARIES}) add_dependencies(tests send_grid_cells) # This is a test program that uses the rviz panel interface. add_executable(render_panel_test render_panel_test.cpp) -if(NOT WIN32) - set_target_properties(render_panel_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(render_panel_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests render_panel_test) # This is an executable which uses the rviz new display diaglog interface. add_executable(new_display_dialog_test new_display_dialog_test.cpp) -if(NOT WIN32) - set_target_properties(new_display_dialog_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(new_display_dialog_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests new_display_dialog_test) # This is an executable which uses the rviz color editor test. add_executable(color_editor_test color_editor_test.cpp) -if(NOT WIN32) - set_target_properties(color_editor_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(color_editor_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests color_editor_test) @@ -143,17 +104,11 @@ add_dependencies(tests property_with_ros # This is an executable that uses the line_edit_with_button property interface. add_executable(line_edit_with_button_test line_edit_with_button_test.cpp) -if(NOT WIN32) - set_target_properties(line_edit_with_button_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(line_edit_with_button_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests line_edit_with_button_test) # This is an executable which tests the connect/disconnect behavior of signals and slots in Qt. add_executable(connect_test connect_test.cpp) -if(NOT WIN32) - set_target_properties(connect_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(connect_test ${QT_LIBRARIES}) add_dependencies(tests connect_test) @@ -166,17 +121,11 @@ add_executable(render_points_test render_points_test.cpp ../rviz/ogre_helpers/orbit_camera.cpp ) -if(NOT WIN32) - set_target_properties(render_points_test PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(render_points_test rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests render_points_test) # This is an example application which creates two ogre render windows. add_executable(two_render_widgets two_render_widgets.cpp) -if(NOT WIN32) - set_target_properties(two_render_widgets PROPERTIES COMPILE_FLAGS "-std=c++11") -endif() target_link_libraries(two_render_widgets rviz ${catkin_LIBRARIES} ${QT_LIBRARIES}) add_dependencies(tests two_render_widgets) diff -pruN 1.14.14+dfsg-2/src/test/property_test.cpp 1.14.15+dfsg-3/src/test/property_test.cpp --- 1.14.14+dfsg-2/src/test/property_test.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/property_test.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -105,8 +105,8 @@ TEST(Property, children) TEST(VectorProperty, default_value) { - VectorProperty* vp = new VectorProperty(); - Ogre::Vector3 vec = vp->getVector(); + VectorProperty vp; + Ogre::Vector3 vec = vp.getVector(); EXPECT_EQ(0, vec.x); EXPECT_EQ(0, vec.y); EXPECT_EQ(0, vec.z); @@ -114,11 +114,11 @@ TEST(VectorProperty, default_value) TEST(VectorProperty, set_and_get) { - VectorProperty* vp = new VectorProperty(); + VectorProperty vp; Ogre::Vector3 vec(1, 2, 3); - vp->setVector(vec); + vp.setVector(vec); - Ogre::Vector3 vec2 = vp->getVector(); + Ogre::Vector3 vec2 = vp.getVector(); EXPECT_EQ(1, vec2.x); EXPECT_EQ(2, vec2.y); EXPECT_EQ(3, vec2.z); @@ -126,17 +126,17 @@ TEST(VectorProperty, set_and_get) TEST(VectorProperty, set_string) { - VectorProperty* vp = new VectorProperty(); - vp->setValue(QString("1;2;3")); + VectorProperty vp; + vp.setValue(QString("1;2;3")); - Ogre::Vector3 vec = vp->getVector(); + Ogre::Vector3 vec = vp.getVector(); EXPECT_EQ(1, vec.x); EXPECT_EQ(2, vec.y); EXPECT_EQ(3, vec.z); - vp->setValue(QString("chubby!")); + vp.setValue(QString("chubby!")); - vec = vp->getVector(); + vec = vp.getVector(); EXPECT_EQ(1, vec.x); EXPECT_EQ(2, vec.y); EXPECT_EQ(3, vec.z); @@ -144,12 +144,12 @@ TEST(VectorProperty, set_string) TEST(VectorProperty, set_child) { - VectorProperty* vp = new VectorProperty(); - vp->subProp("X")->setValue(0.9); - vp->subProp("Y")->setValue(1.1); - vp->subProp("Z")->setValue(1.3); + VectorProperty vp; + vp.subProp("X")->setValue(0.9); + vp.subProp("Y")->setValue(1.1); + vp.subProp("Z")->setValue(1.3); - Ogre::Vector3 vec = vp->getVector(); + Ogre::Vector3 vec = vp.getVector(); EXPECT_EQ(0.9f, vec.x); EXPECT_EQ(1.1f, vec.y); EXPECT_EQ(1.3f, vec.z); @@ -157,10 +157,10 @@ TEST(VectorProperty, set_child) TEST(VectorProperty, get_child) { - VectorProperty* vp = new VectorProperty("v", Ogre::Vector3(1, 2, 3)); - EXPECT_EQ(1, vp->subProp("X")->getValue().toFloat()); - EXPECT_EQ(2, vp->subProp("Y")->getValue().toFloat()); - EXPECT_EQ(3, vp->subProp("Z")->getValue().toFloat()); + VectorProperty vp("v", Ogre::Vector3(1, 2, 3)); + EXPECT_EQ(1, vp.subProp("X")->getValue().toFloat()); + EXPECT_EQ(2, vp.subProp("Y")->getValue().toFloat()); + EXPECT_EQ(3, vp.subProp("Z")->getValue().toFloat()); } TEST(VectorProperty, set_value_events) @@ -181,8 +181,8 @@ TEST(VectorProperty, set_value_events) TEST(QuaternionProperty, default_value) { - QuaternionProperty* qp = new QuaternionProperty(); - Ogre::Quaternion quat = qp->getQuaternion(); + QuaternionProperty qp; + Ogre::Quaternion quat = qp.getQuaternion(); EXPECT_EQ(0, quat.x); EXPECT_EQ(0, quat.y); EXPECT_EQ(0, quat.z); @@ -191,11 +191,11 @@ TEST(QuaternionProperty, default_value) TEST(QuaternionProperty, set_and_get) { - QuaternionProperty* qp = new QuaternionProperty(); + QuaternionProperty qp; Ogre::Quaternion quat(4, 1, 2, 3); - qp->setQuaternion(quat); + qp.setQuaternion(quat); - Ogre::Quaternion quat2 = qp->getQuaternion(); + Ogre::Quaternion quat2 = qp.getQuaternion(); EXPECT_EQ(1, quat2.x); EXPECT_EQ(2, quat2.y); EXPECT_EQ(3, quat2.z); @@ -204,18 +204,18 @@ TEST(QuaternionProperty, set_and_get) TEST(QuaternionProperty, set_string) { - QuaternionProperty* qp = new QuaternionProperty(); - qp->setValue(QString("1;2;3;4")); + QuaternionProperty qp; + qp.setValue(QString("1;2;3;4")); - Ogre::Quaternion quat = qp->getQuaternion(); + Ogre::Quaternion quat = qp.getQuaternion(); EXPECT_EQ(1, quat.x); EXPECT_EQ(2, quat.y); EXPECT_EQ(3, quat.z); EXPECT_EQ(4, quat.w); - qp->setValue(QString("chubby!")); + qp.setValue(QString("chubby!")); - quat = qp->getQuaternion(); + quat = qp.getQuaternion(); EXPECT_EQ(1, quat.x); EXPECT_EQ(2, quat.y); EXPECT_EQ(3, quat.z); @@ -224,13 +224,13 @@ TEST(QuaternionProperty, set_string) TEST(QuaternionProperty, set_child) { - QuaternionProperty* qp = new QuaternionProperty(); - qp->subProp("X")->setValue(0.9); - qp->subProp("Y")->setValue(1.1); - qp->subProp("Z")->setValue(1.3); - qp->subProp("W")->setValue(1.5); + QuaternionProperty qp; + qp.subProp("X")->setValue(0.9); + qp.subProp("Y")->setValue(1.1); + qp.subProp("Z")->setValue(1.3); + qp.subProp("W")->setValue(1.5); - Ogre::Quaternion quat = qp->getQuaternion(); + Ogre::Quaternion quat = qp.getQuaternion(); EXPECT_EQ(0.9f, quat.x); EXPECT_EQ(1.1f, quat.y); EXPECT_EQ(1.3f, quat.z); @@ -239,11 +239,11 @@ TEST(QuaternionProperty, set_child) TEST(QuaternionProperty, get_child) { - QuaternionProperty* qp = new QuaternionProperty("v", Ogre::Quaternion(4, 1, 2, 3)); - EXPECT_EQ(1, qp->subProp("X")->getValue().toFloat()); - EXPECT_EQ(2, qp->subProp("Y")->getValue().toFloat()); - EXPECT_EQ(3, qp->subProp("Z")->getValue().toFloat()); - EXPECT_EQ(4, qp->subProp("W")->getValue().toFloat()); + QuaternionProperty qp("v", Ogre::Quaternion(4, 1, 2, 3)); + EXPECT_EQ(1, qp.subProp("X")->getValue().toFloat()); + EXPECT_EQ(2, qp.subProp("Y")->getValue().toFloat()); + EXPECT_EQ(3, qp.subProp("Z")->getValue().toFloat()); + EXPECT_EQ(4, qp.subProp("W")->getValue().toFloat()); } TEST(QuaternionProperty, set_value_events) @@ -265,8 +265,8 @@ TEST(QuaternionProperty, set_value_event TEST(ColorProperty, default_value) { - ColorProperty* qp = new ColorProperty(); - QColor color = qp->getColor(); + ColorProperty qp; + QColor color = qp.getColor(); EXPECT_EQ(0, color.red()); EXPECT_EQ(0, color.green()); EXPECT_EQ(0, color.blue()); @@ -274,11 +274,11 @@ TEST(ColorProperty, default_value) TEST(ColorProperty, set_and_get) { - ColorProperty* qp = new ColorProperty(); + ColorProperty qp; QColor color(1, 2, 3); - qp->setColor(color); + qp.setColor(color); - QColor color2 = qp->getColor(); + QColor color2 = qp.getColor(); EXPECT_EQ(1, color2.red()); EXPECT_EQ(2, color2.green()); EXPECT_EQ(3, color2.blue()); @@ -286,17 +286,17 @@ TEST(ColorProperty, set_and_get) TEST(ColorProperty, set_string) { - ColorProperty* qp = new ColorProperty(); - qp->setValue(QString("1;2;3")); + ColorProperty qp; + qp.setValue(QString("1;2;3")); - QColor color = qp->getColor(); + QColor color = qp.getColor(); EXPECT_EQ(1, color.red()); EXPECT_EQ(2, color.green()); EXPECT_EQ(3, color.blue()); - qp->setValue(QString("chubby!")); + qp.setValue(QString("chubby!")); - color = qp->getColor(); + color = qp.getColor(); EXPECT_EQ(1, color.red()); EXPECT_EQ(2, color.green()); EXPECT_EQ(3, color.blue()); @@ -304,10 +304,10 @@ TEST(ColorProperty, set_string) TEST(ColorProperty, set_string_limits) { - ColorProperty* qp = new ColorProperty(); - qp->setValue(QString("-1;2000;3")); + ColorProperty qp; + qp.setValue(QString("-1;2000;3")); - QColor color = qp->getColor(); + QColor color = qp.getColor(); EXPECT_EQ(0, color.red()); EXPECT_EQ(255, color.green()); EXPECT_EQ(3, color.blue()); diff -pruN 1.14.14+dfsg-2/src/test/render_points_test.cpp 1.14.15+dfsg-3/src/test/render_points_test.cpp --- 1.14.14+dfsg-2/src/test/render_points_test.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/render_points_test.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -34,8 +34,8 @@ #include #include -#include -#include +#include +#include using namespace rviz; diff -pruN 1.14.14+dfsg-2/src/test/render_points_test.h 1.14.15+dfsg-3/src/test/render_points_test.h --- 1.14.14+dfsg-2/src/test/render_points_test.h 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/render_points_test.h 2022-08-01 08:39:42.000000000 +0000 @@ -44,10 +44,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #endif diff -pruN 1.14.14+dfsg-2/src/test/rviz_logo_marker.cpp 1.14.15+dfsg-3/src/test/rviz_logo_marker.cpp --- 1.14.14+dfsg-2/src/test/rviz_logo_marker.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/rviz_logo_marker.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -99,7 +99,8 @@ int main(int argc, char** argv) ros::init(argc, argv, "rviz_logo_marker"); ros::NodeHandle n; - ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), boost::bind(&publishCallback, _1)); + ros::Timer publish_timer = + n.createTimer(ros::Duration(0.1), boost::bind(&publishCallback, boost::placeholders::_1)); server = new interactive_markers::InteractiveMarkerServer("rviz_logo"); makeMarker(); diff -pruN 1.14.14+dfsg-2/src/test/send_covariance_msgs.py 1.14.15+dfsg-3/src/test/send_covariance_msgs.py --- 1.14.14+dfsg-2/src/test/send_covariance_msgs.py 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/send_covariance_msgs.py 2022-08-01 08:39:42.000000000 +0000 @@ -72,7 +72,7 @@ while not rospy.is_shutdown(): pi / 2, pi / 3, 0 ) - pose_with_cov.pose.covariance[0] = linear_deviation ** 2.0 + pose_with_cov.pose.covariance[0] = linear_deviation**2.0 pose_with_cov.pose.covariance[6 + 1] = 0.0001 pose_with_cov.pose.covariance[12 + 2] = 0.0001 pose_with_cov.pose.covariance[18 + 3] = 0.01 diff -pruN 1.14.14+dfsg-2/src/test/send_tf_timing.py 1.14.15+dfsg-3/src/test/send_tf_timing.py --- 1.14.14+dfsg-2/src/test/send_tf_timing.py 1970-01-01 00:00:00.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/send_tf_timing.py 2022-08-01 08:39:42.000000000 +0000 @@ -0,0 +1,103 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import rospy +import math +import numpy as np + +import tf2_ros +from geometry_msgs.msg import TransformStamped +from sensor_msgs import point_cloud2 +from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointField +from std_msgs.msg import Header + +width = 100 +height = 100 + + +def create_pc(t): + fields = [ + PointField("x", 0, PointField.FLOAT32, 1), + PointField("y", 4, PointField.FLOAT32, 1), + PointField("z", 8, PointField.FLOAT32, 1), + PointField("intensity", 12, PointField.FLOAT32, 1), + ] + + header = Header() + header.frame_id = "base_link" + header.stamp = rospy.Time.now() + + # concentric waves + x, y = np.meshgrid(np.linspace(-2, 2, width), np.linspace(-2, 2, height)) + z = 0.2 * np.sin(3 * np.sqrt(x**2 + y**2) - t) + points = np.array([x, y, z, z]).reshape(4, -1).T + + return point_cloud2.create_cloud(header, fields, points) + + +if __name__ == "__main__": + rospy.init_node("send_tf_v2") + + # transform identical to rot + tf_static = TransformStamped() + tf_static.header.stamp = rospy.Time.now() + tf_static.header.frame_id = "rot" + tf_static.child_frame_id = "rot2" + tf_static.transform.rotation.w = 1 + br_static = tf2_ros.StaticTransformBroadcaster() + br_static.sendTransform(tf_static) + + br = tf2_ros.TransformBroadcaster() + fast_pub = rospy.Publisher("fast", PointCloud2, queue_size=10) + slow_pub = rospy.Publisher("slow", PointCloud2, queue_size=1) + old = create_pc(0.0) + + # base_link moving linearly back and forth + tf_base = TransformStamped() + tf_base.header.frame_id = "map" + tf_base.child_frame_id = "base_link" + tf_base.transform.rotation.w = 1 + + # transform rotating about base_link + tf_rot = TransformStamped() + tf_rot.header.frame_id = "base_link" + tf_rot.child_frame_id = "rot" + tf_rot.transform.rotation.w = 1 + + tf_slow = TransformStamped() + tf_slow.header.frame_id = "base_link" + tf_slow.child_frame_id = "slow" + tf_slow.transform.translation.z = 1 + tf_slow.transform.rotation.w = 1 + + fast_rate = rospy.Rate(100) + slow_rate = rospy.Rate(1) + frequency = 0.1 + radius = 2 + while not rospy.is_shutdown(): + tf_base.header.stamp = rospy.Time.now() + t = 2 * math.pi * tf_base.header.stamp.to_sec() * frequency + tf_base.transform.translation.x = 10 * math.cos(t) + br.sendTransform(tf_base) + + tf_rot.header.stamp = tf_base.header.stamp + tf_rot.transform.translation.x = radius * math.cos(2 * t) + tf_rot.transform.translation.y = radius * math.sin(2 * t) + tf_rot.transform.translation.z = 0 + br.sendTransform(tf_rot) + + pc = create_pc(2 * t) + fast_pub.publish(pc) + fast_rate.sleep() + print(".", end="") + if slow_rate.remaining() < rospy.Duration(): + # publish slow TF + tf_slow.header.stamp = old.header.stamp + br.sendTransform(tf_slow) + # re-publish old PC + slow_pub.publish(old) + old = pc # store current PC + slow_rate.last_time = rospy.Time.now() + print("+") diff -pruN 1.14.14+dfsg-2/src/test/tf_sync_display.rviz 1.14.15+dfsg-3/src/test/tf_sync_display.rviz --- 1.14.14+dfsg-2/src/test/tf_sync_display.rviz 1970-01-01 00:00:00.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/tf_sync_display.rviz 2022-08-01 08:39:42.000000000 +0000 @@ -0,0 +1,227 @@ +Panels: + - Class: rviz/Displays + Help Height: 128 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /fast1 + Splitter Ratio: 0.5 + Tree Height: 714 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 2 + SyncSource: fast +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: BaseLink + Radius: 0.10000000149011612 + Reference Frame: base_link + Show Trail: false + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Rot + Radius: 0.10000000149011612 + Reference Frame: rot + Show Trail: false + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Rot2 + Radius: 0.10000000149011612 + Reference Frame: rot + Show Trail: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: fast + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: /fast + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: slow + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /slow + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Class: rviz/Axes + Enabled: false + Length: 1 + Name: Slow + Radius: 0.10000000149011612 + Reference Frame: slow + Show Trail: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 18.42949676513672 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -7.236814975738525 + Y: -5.540378570556641 + Z: -5.354213714599609 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5453979969024658 + Target Frame: base_link + Yaw: 0.6553990840911865 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1061 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015600000387fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000387000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000387000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000034100fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000038700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 2560 + Y: 0 diff -pruN 1.14.14+dfsg-2/src/test/tf_sync_frame.rviz 1.14.15+dfsg-3/src/test/tf_sync_frame.rviz --- 1.14.14+dfsg-2/src/test/tf_sync_frame.rviz 1970-01-01 00:00:00.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/tf_sync_frame.rviz 2022-08-01 08:39:42.000000000 +0000 @@ -0,0 +1,160 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 839 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 1 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: BaseLink + Radius: 0.10000000149011612 + Reference Frame: base_link + Show Trail: false + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Rot + Radius: 0.10000000149011612 + Reference Frame: rot + Show Trail: false + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Rot2 + Radius: 0.10000000149011612 + Reference Frame: rot2 + Show Trail: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10.879761695861816 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Yaw: 0.7853981852531433 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1136 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003d2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003d2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d00650100000000000007380000031200fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 47 + Y: 25 diff -pruN 1.14.14+dfsg-2/src/test/two_render_widgets.cpp 1.14.15+dfsg-3/src/test/two_render_widgets.cpp --- 1.14.14+dfsg-2/src/test/two_render_widgets.cpp 2022-02-12 10:42:16.000000000 +0000 +++ 1.14.15+dfsg-3/src/test/two_render_widgets.cpp 2022-08-01 08:39:42.000000000 +0000 @@ -35,11 +35,11 @@ #include #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include using namespace rviz;