snowsampler_rviz code cleanup (#9)

* removed pose widget (still working)

* compiling

* cleanup the imports

* clang-format

snowsampler_rviz/CMakeLists.txt

@@ -11,15 +11,11 @@ add_definitions(-std=c++11)
 set(CMAKE_AUTOMOC OFF)
 
 set(HEADER_FILES_QT
-  include/snowsampler_rviz/pose_widget.h
   include/snowsampler_rviz/planning_panel.h
-  include/snowsampler_rviz/edit_button.h
 )
 
 set(SRC_FILES
   src/planning_panel.cpp
-  src/pose_widget.cpp
-  src/edit_button.cpp
   src/goal_marker.cpp
 )
 

snowsampler_rviz/include/snowsampler_rviz/planning_panel.h

@@ -1,30 +1,31 @@
 #ifndef snowsampler_rviz_PLANNING_PANEL_H_
 #define snowsampler_rviz_PLANNING_PANEL_H_
 
-#ifndef Q_MOC_RUN
+#include <geometry_msgs/PoseStamped.h>
+#include <grid_map_geo_msgs/GeographicMapInfo.h>
+#include <mav_msgs/conversions.h>
+#include <mav_msgs/eigen_mav_msgs.h>
 #include <planner_msgs/NavigationStatus.h>
+#include <planner_msgs/SetService.h>
+#include <ros/ros.h>
 #include <rviz/panel.h>
+#include <snowsampler_msgs/SetAngle.h>
+#include <snowsampler_msgs/SetMeasurementDepth.h>
+#include <snowsampler_msgs/Trigger.h>
+#include <snowsampler_rviz/goal_marker.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Int8.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
 
+#include <QCheckBox>
+#include <QGridLayout>
 #include <QGroupBox>
 #include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
 #include <QTimer>
-
-#include "geometry_msgs/PoseStamped.h"
-#include "mav_msgs/conversions.h"
-#include "mav_msgs/eigen_mav_msgs.h"
-#include "snowsampler_msgs/SetMeasurementDepth.h"
-#include "snowsampler_msgs/Trigger.h"
-#include "snowsampler_rviz/edit_button.h"
-#include "snowsampler_rviz/goal_marker.h"
-#include "snowsampler_rviz/pose_widget.h"
-#include "grid_map_geo_msgs/GeographicMapInfo.h"
-#include "std_msgs/Float64.h"
-#include "std_msgs/Int8.h"
-
-#endif
+#include <thread>
 
 enum PLANNER_STATE { HOLD = 1, NAVIGATE = 2, ROLLOUT = 3, ABORT = 4, RETURN = 5 };
 enum SSPState {
@@ -65,10 +66,6 @@ class PlanningPanel : public rviz::Panel {
   virtual void save(rviz::Config config) const;
   virtual void onInitialize();
 
-  // All the settings to manage pose <-> edit mapping.
-  void registerPoseWidget(PoseWidget* widget);
-  void registerEditButton(EditButton* button);
-
   // Callback from ROS when the pose updates:
   void legAngleCallback(const std_msgs::Float64& msg);
   void targetAngleCallback(const std_msgs::Float64& msg);
@@ -77,11 +74,8 @@ class PlanningPanel : public rviz::Panel {
   void mapInfoCallback(const grid_map_geo_msgs::GeographicMapInfo& msg);
   // Next come a couple of public Qt slots.
  public Q_SLOTS:
-  void startEditing(const std::string& id);
-  void finishEditing(const std::string& id);
-  void widgetPoseUpdated(const std::string& id, mav_msgs::EigenTrajectoryPoint& pose);
+
   void callSetAngleService(double angle);
-  void terrainAlignmentStateChanged(int state);
   void setPlannerModeServiceTakeoff();
   void setPlannerModeServiceLand();
   void setPlannerModeServiceGoTo();
@@ -124,25 +118,18 @@ class PlanningPanel : public rviz::Panel {
   QPushButton* ssp_stop_measurement_button_;
   QPushButton* ssp_go_home_button_;
   QPushButton* ssp_set_measurement_depth_button_;
-  PoseWidget* start_pose_widget_;
-  PoseWidget* goal_pose_widget_;
   QPushButton* set_goal_button_;
   QPushButton* set_start_button_;
   std::vector<QPushButton*> set_planner_state_buttons_;
   QPushButton* controller_button_;
 
-  // Keep track of all the pose <-> button widgets as they're related:
-  std::map<std::string, PoseWidget*> pose_widget_map_;
-  std::map<std::string, EditButton*> edit_button_map_;
-
   Eigen::Vector3d map_origin_;
 
   // QT state:
   QString namespace_;
   QString planner_name_;
   QString planning_budget_value_{"100.0"};
   QString odometry_topic_;
-  bool align_terrain_on_load_{true};
 
   // Other state:
   std::string currently_editing_;