label can be turned on and off

include/turtlesim/turtle.h

@@ -97,7 +97,8 @@ private:
   ros::WallTime last_command_time_;
 
   float meter_;
-  QString label = "0";
+  bool label_on_ = false;
+  QString label_ = "";
 
   struct TeleportRequest
   {

src/turtle.cpp

@@ -92,7 +92,8 @@ bool Turtle::setPenCallback(turtlesim::SetPen::Request& req, turtlesim::SetPen::
 }
 
 bool Turtle::setLabelCallback(turtlesim_xl::SetLabel::Request& req, turtlesim_xl::SetLabel::Response&){
-  Turtle::label = QString(req.name.c_str());
+  Turtle::label_ = QString(req.name.c_str());
+  label_on_ = req.on;
   return true;
 }
 bool Turtle::teleportRelativeCallback(turtlesim::TeleportRelative::Request& req, turtlesim::TeleportRelative::Response&)
@@ -220,14 +221,15 @@ bool Turtle::update(double dt, QPainter& path_painter, const QImage& path_image,
 void Turtle::paint(QPainter& painter)
 {
   QPointF p = pos_ * meter_;
-  QPointF pl = pos_ * meter_;
-  pl.rx() -= 0.3 * turtle_rotated_image_.width();
-  //pl.ry() -= 0.5 * turtle_rotated_image_.height();
   p.rx() -= 0.5 * turtle_rotated_image_.width();
   p.ry() -= 0.5 * turtle_rotated_image_.height();
   painter.drawImage(p, turtle_rotated_image_);
+  if(label_on_){
+    QPointF pl = pos_ * meter_;
+    pl.rx() -= 0.3 * turtle_rotated_image_.width();
     painter.setPen(Qt::red);
-  painter.drawText(pl,Turtle::label);
+    painter.drawText(pl,Turtle::label_);
+  }
 }
 
 }

src/turtle_frame.cpp

@@ -35,9 +35,9 @@
 #include <cstdlib>
 #include <ctime>
 
-#define DEFAULT_BG_R 0x2a
-#define DEFAULT_BG_G 0x2a
-#define DEFAULT_BG_B 0x2e
+#define DEFAULT_BG_R 0x00
+#define DEFAULT_BG_G 0x00
+#define DEFAULT_BG_B 0x00
 #define FRAME_WIDTH 1200
 #define FRAME_HEIGHT 800
 

srv/SetLabel.srv

 string name
+uint8 on
\ No newline at end of file