Add support for polygon stamped message. #93
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| @@ -268,6 +276,16 @@ impl TopicManager { | |||
| topic: topic[0].clone(), | |||
| rotation: 0, | |||
| }), | |||
| "geometry_msgs/PolygonStamped" => { | |||
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do I understand correctly that every time we save the config we will get a different color?
Not part of this PR but should we somehow add some logic to reuse the color of the previous config for the topic that were already added from the beginning?
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this is the same for all other topics. So lets keep it for this pr
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Build failing because of what reported in here |
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| @@ -16,7 +16,7 @@ colorgrad = "*" | |||
| crossterm = { version = '0.23', features = ["event-stream"] } | |||
| futures = "0.3" | |||
| futures-timer = "3.0" | |||
| image = "*" | |||
| image = "0.24" # TODO: tui-image (see below) doesn't allow newer versions. | |||
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the general problem here is the dependency to the unmaintained tui-rs. I wrote a ticket to takle it 'some day'. #94
| @@ -178,6 +186,10 @@ impl Default for TermvizConfig { | |||
| topic: "pointcloud2".to_string(), | |||
| use_rgb: false, | |||
| }], | |||
| polygon_stamped_topics: vec
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| move |msg: rosrust_msg::geometry_msgs::PolygonStamped| { | ||
| let mut unlocked_data = cloned_data.write().unwrap(); | ||
| unlocked_data.polygon_stamped_msg = Some(msg); | ||
| unlocked_data.update(); |
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@carzum this update is translating the polygon to the correct position.
Currently we do this every time we receive a new polygon but do not work great on latched topic.
Moving this to the get_lines method it is also not ideal because it will slow down the thread that we use for the visual rendering. Should we anyway move it there and in the future think of adding a separate timer with the task of transforming all the subscribed messages?
?
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the draw thread is the one constraining performance at the moment. Having the transform in there could make the application more unresponsive. Regarding latched topics: We have the same issue with other listeners, so far this is not bugging me too much.
| @@ -178,6 +186,10 @@ impl Default for TermvizConfig { | |||
| topic: "pointcloud2".to_string(), | |||
| use_rgb: false, | |||
| }], | |||
| polygon_stamped_topics: vec
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