using hardcoded shape for now

include/turtlesim/turtle.h

@@ -85,6 +85,7 @@ private:
   ros::Subscriber velocity_sub_;
   ros::Publisher pose_pub_;
   ros::Publisher color_pub_;
+  ros::Publisher inside_pub_;
   ros::ServiceServer set_pen_srv_;
   ros::ServiceServer teleport_relative_srv_;
   ros::ServiceServer teleport_absolute_srv_;

src/turtle.cpp

@@ -191,6 +191,22 @@ bool Turtle::update(double dt, QPainter& path_painter, const QImage& path_image,
     color_pub_.publish(color);
   }
 
+  ////return true if turtle is on a white pixel
+  //{
+  //  Color color;
+  //  QRgb pixel = path_image.pixel((pos_ * meter_).toPoint());
+  //  color.r = qRed(pixel);
+  //  color.g = qGreen(pixel);
+  //  color.b = qBlue(pixel);
+  //  ROS_INFO("red----------%d",color.r);
+  //  std_msgs::String a;
+  //  a.data="1";
+  //  std_msgs::String b;
+  //  b.data="1";
+  //  inside_pub_.publish((color.r==0xff&&color.g==0xff&&color.b==0xff)?a:b);
+  //}
+
+
   ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f", nh_.getNamespace().c_str(), pos_.x(), pos_.y(), orient_);
 
   if (orient_ != old_orient)

src/turtle_frame.cpp

@@ -80,9 +80,9 @@ TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
   // turtles.append("box-turtle.png");
   // turtles.append("robot-turtle.png");
   // turtles.append("sea-turtle.png");
-     turtles.append("diamondback.png");
+  // turtles.append("diamondback.png");
   // turtles.append("doge.png");
-  // turtles.append("electric.png");
+  turtles.append("electric.png");
   // turtles.append("hydro.svg");
   // turtles.append("fuerte.png");
   // turtles.append("groovy.png");
@@ -105,14 +105,14 @@ TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
 
   clear();
   //temp draw shape (hardcoded) -----------------------------------
-  //path_painter_.setPen(QColor(0xff,0xff,0xff)) ;
-  //path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
-  QPointF tmp01;
-  tmp01.setX((12-5)*meter_);
-  tmp01.setY(FRAME_HEIGHT-(7)*meter_);
-  QImage img01;
-  img01.load(images_path+"test.png");
-  path_painter_.drawImage(tmp01,img01);
+  path_painter_.setPen(QColor(0xff,0xff,0xff)) ;
+  path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
+  //QPointF tmp01;
+  //tmp01.setX((12-5)*meter_);
+  //tmp01.setY(FRAME_HEIGHT-(7)*meter_);
+  //QImage img01;
+  //img01.load(images_path+"test.png");
+  //path_painter_.drawImage(tmp01,img01);
   //end --------------------------------
  
   clear_srv_ = nh_.advertiseService("clear", &TurtleFrame::clearCallback, this);