Merge pull request #48 from ethz-asl/feature/altitude_selection_view

Improve tool tip. Altitude and selection first.

Author: rikba

README.md

@@ -38,7 +38,7 @@ Download package dependencies from [dependencies.rosinstall](install/dependencie
 ```
 cd ~/catkin_ws/src
 wstool init
-wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git -v v2.0.0
+wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git -v v2.0.1
 wstool update
 wstool merge polygon_coverage_planning/install/dependencies.rosinstall
 wstool update

install/dependencies.rosinstall

@@ -1,3 +1,3 @@
 - git: {local-name: catkin_simple, uri: 'git@github.com:catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
 - git: {local-name: cgal_catkin, uri: 'git@github.com:ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
-- git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v2.0.0}
+- git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v2.0.1}

install/dependencies_https.rosinstall

@@ -1,3 +1,3 @@
 - git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
 - git: {local-name: cgal_catkin, uri: 'https://github.com/ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
-- git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v2.0.0}
+- git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v2.0.1}

polygon_coverage_ros/package.xml

@@ -28,4 +28,6 @@
   <depend>polygon_coverage_planners</depend>
   <depend>cgal_catkin</depend>
 
+  <exec_depend>rviz_polygon_tool</exec_depend>
+
 </package>

rviz_polygon_tool/src/polygon_tool.cc

@@ -44,11 +44,11 @@ const QString kR = "<b>r:</b> Reset polygon";
 const QString kC = "<b>c:</b> Clear all";
 const QString kEnter = "<b>Enter:</b> Publish polygon";
 const QString kMouse = "<b>Mouse wheel (+shift/ctrl):</b> Change altitude";
+const QString kInfo = kLeftClick + ", " + kRightClick + ", " + kH + ", " + kP +
+                      ", " + kV + ", " + kR + ", " + kC + ", " + kEnter + ", " +
+                      kMouse;
 const QString kAltitude = "Altitude: ";
 const QString kSelection = "Current Selection: ";
-const QString kStatus = kLeftClick + ", " + kRightClick + ", " + kH + ", " +
-                        kP + ", " + kV + ", " + kR + ", " + kC + ", " + kEnter +
-                        ", " + kMouse + ", " + kAltitude;
 
 // Point scales.
 const float kPtScale = 0.5;
@@ -332,14 +332,15 @@ void PolygonTool::publishPolygon() {
 }
 
 void PolygonTool::updateStatus() {
-  const QString kPrefix =
-      kStatus + QString::number(altitude_) + "m, " + kSelection;
+  QString status = kAltitude + QString::number(altitude_) + "m, " + kSelection;
   if (polygon_selection_ == polygons_.begin()) {
-    setStatus(kPrefix + " Hull");
+    status += " Hull";
   } else {
     int idx = std::distance(polygons_.begin(), polygon_selection_) - 1;
-    setStatus(kPrefix + " Hole " + QString::number(idx));
+    status += " Hole " + QString::number(idx);
   }
+  status += ", " + kInfo;
+  setStatus(status);
 }
 
 void PolygonTool::removeEmptyHoles() {