Far planner代码系列（5）

goalpoint_rviz_plugin

        我们今天来看far planner里的第二个插件 goalpoint_rviz_plugin。先来看它的头文件：

#ifndef GOALPOINT_RVIZ_PLUGIN_WAYPOINT_TOOL_H
#define GOALPOINT_RVIZ_PLUGIN_WAYPOINT_TOOL_H

#include <sstream>
#include <ros/ros.h>
#include <QObject>

#include <sensor_msgs/Joy.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PointStamped.h>

#include "rviz/display_context.h"
#include "rviz/properties/string_property.h"
#include "rviz/default_plugin/tools/pose_tool.h"

namespace rviz
{
class StringProperty;

class GoalPointTool : public PoseTool
{
  Q_OBJECT
public:
  GoalPointTool();
  virtual ~GoalPointTool()
  {
  }
  virtual void onInitialize();

protected:
  virtual void odomHandler(const nav_msgs::Odometry::ConstPtr& odom);
  virtual void onPoseSet(double x, double y, double theta);

private Q_SLOTS:
  vo