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ROS1 버전

주요 변경 사항

twist_panel.hpp

public:
    TwistPanel(QWidget *parent = nullptr);

    virtual void onInitialize(); // 追加
    virtual void load(const rviz_common::Config &config);
    virtual void save(rviz_common::Config config) const;

protected:
    // The ROS node handle.
    // ros::NodeHandle nh_;
    rclcpp::Node::SharedPtr nh_;

    // The ROS publisher for the command velocity.
    // ros::Publisher twist_publisher_;
    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_publisher_;
    rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_stamped_publisher_;

twist_panel.cpp

void TwistPanel::onInitialize()
{
    nh_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
    // nh_ = std::make_shared<rclcpp::Node>("twist_panel", "sample_rviz_plugin");
}

        if (twist_publisher_ || twist_stamped_publisher_) //
        {
            float vel_max1 = max1_edit_->text().toFloat();
            float vel_max2 = max2_edit_->text().toFloat();
            float vel_max3 = max3_edit_->text().toFloat();

            auto msg = std::make_shared<geometry_msgs::msg::TwistStamped>(); // 
            msg->header.frame_id = pub_frame_;
            // msg->header.stamp = ros::Time::now();
            msg->header.stamp = nh_->now(); //

    // twist_publisher_ = nh_.advertise<geometry_msgs::TwistStamped>(topic_name, 10);
    twist_stamped_publisher_ = nh_->create_publisher<geometry_msgs::msg::TwistStamped>(topic_name, rclcpp::QoS(10));