diff --git a/images/doge.png b/images/doge.png deleted file mode 100644 index 4ea852c5e8321601a58ca34fd2cc6fcf0d78b2f2..0000000000000000000000000000000000000000 Binary files a/images/doge.png and /dev/null differ diff --git a/images/doge1.png b/images/doge1.png deleted file mode 100644 index a4d2fa1f53af20b2a3b06b4ceec460e9475c55e9..0000000000000000000000000000000000000000 Binary files a/images/doge1.png and /dev/null differ diff --git a/include/turtlesim/turtle.h b/include/turtlesim/turtle.h index 648ba63390ba92b3d56f85f71ef8cbadd341e5a1..6cd013b18eca69cc61f2a10773192678c999f74b 100644 --- a/include/turtlesim/turtle.h +++ b/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_; diff --git a/src/turtle.cpp b/src/turtle.cpp index e94560e9ecfbd5bc3ed2d80330fa235be3f8a3e3..0fb2249e2768ec4d66aaae1c8651ec79dbfc4c91 100644 --- a/src/turtle.cpp +++ b/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) diff --git a/src/turtle_frame.cpp b/src/turtle_frame.cpp index 143adccce894d2c6a7f75b47d394685faab17b8b..d4c959645efe2fe8f19f0a773192fcaa5475129a 100644 --- a/src/turtle_frame.cpp +++ b/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);