Added topic parameter to all ROS layers and renamed CompressedOccupancyGridLayer.

android_honeycomb_mr2/src/org/ros/android/views/navigation/CompressedOccupancyGridLayer.java → android_honeycomb_mr2/src/org/ros/android/views/navigation/CompressedBitmapLayer.java

@@ -34,7 +34,7 @@ import javax.microedition.khronos.opengles.GL10;
  * @author moesenle
  *
  */
-public class CompressedOccupancyGridLayer implements NavigationViewLayer, NodeMain {
+public class CompressedBitmapLayer implements NavigationViewLayer, NodeMain {
 
   private OccupancyGrid occupancyGrid = new OccupancyGrid();
 
@@ -44,11 +44,17 @@ public class CompressedOccupancyGridLayer implements NavigationViewLayer, NodeMa
 
   private boolean initialized = false;
 
+  private String topic;
+
+  public CompressedBitmapLayer(String topic) {
+    this.topic = topic;
+  }
+
   @Override
   public void onStart(Node node) {
     compressedOccupancyGridSubscriber =
         node.newSubscriber(
-            "~compressed_map",
+            topic,
             "compressed_visualization_transport_msgs/CompressedBitmap",
             new MessageListener<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>() {
               @Override

android_honeycomb_mr2/src/org/ros/android/views/navigation/OccupancyGridLayer.java

@@ -54,6 +54,12 @@ public class OccupancyGridLayer implements NavigationViewLayer, NodeMain {
 
   private boolean initialized = false;
 
+  private String topic;
+
+  public OccupancyGridLayer(String topic) {
+    this.topic = topic;
+  }
+
   @Override
   public void draw(GL10 gl) {
     if (initialized) {
@@ -69,7 +75,7 @@ public class OccupancyGridLayer implements NavigationViewLayer, NodeMain {
   @Override
   public void onStart(Node node) {
     occupancyGridSubscriber =
-        node.newSubscriber("~map", "nav_msgs/OccupancyGrid",
+        node.newSubscriber(topic, "nav_msgs/OccupancyGrid",
             new MessageListener<org.ros.message.nav_msgs.OccupancyGrid>() {
               @Override
               public void onNewMessage(org.ros.message.nav_msgs.OccupancyGrid occupancyGridMessage) {

android_honeycomb_mr2/src/org/ros/android/views/navigation/PathLayer.java

@@ -46,6 +46,12 @@ public class PathLayer implements NavigationViewLayer, NodeMain {
 
   private NavigationView navigationView;
 
+  private String topic;
+
+  public PathLayer(String topic) {
+    this.topic = topic;
+  }
+
   @Override
   public void draw(GL10 gl) {
     if (!visible) {
@@ -73,7 +79,7 @@ public class PathLayer implements NavigationViewLayer, NodeMain {
 
   @Override
   public void onStart(Node node) {
-    pathSubscriber = node.newSubscriber("~path", "nav_msgs/Path", new MessageListener<Path>() {
+    pathSubscriber = node.newSubscriber(topic, "nav_msgs/Path", new MessageListener<Path>() {
       @Override
       public void onNewMessage(Path path) {
         pathVertexBuffer = makePathVertices(path);

android_honeycomb_mr2/src/org/ros/android/views/navigation/RobotLayer.java

@@ -49,7 +49,10 @@ public class RobotLayer implements NavigationViewLayer, NodeMain {
   private GestureDetector gestureDetector;
   private boolean followingRobot = false;
 
-  public RobotLayer() {
+  private String topic;
+
+  public RobotLayer(String topic) {
+    this.topic = topic;
     robotShape = new TriangleFanShape(vertices, color);
   }
 
@@ -75,7 +78,7 @@ public class RobotLayer implements NavigationViewLayer, NodeMain {
   @Override
   public void onStart(Node node) {
     poseSubscriber =
-        node.newSubscriber("~pose", "geometry_msgs/PoseStamped",
+        node.newSubscriber(topic, "geometry_msgs/PoseStamped",
             new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
               @Override
               public void onNewMessage(PoseStamped pose) {

android_tutorial_teleop/src/org/ros/android/tutorial/teleop/MainActivity.java

@@ -30,7 +30,7 @@ import org.ros.android.views.RosImageView;
 import org.ros.android.views.VirtualJoystickView;
 import org.ros.android.views.ZoomMode;
 import org.ros.android.views.navigation.CameraLayer;
-import org.ros.android.views.navigation.CompressedOccupancyGridLayer;
+import org.ros.android.views.navigation.CompressedBitmapLayer;
 import org.ros.android.views.navigation.NavigationGoalLayer;
 import org.ros.android.views.navigation.NavigationView;
 import org.ros.android.views.navigation.RobotLayer;
@@ -167,8 +167,8 @@ public class MainActivity extends RosActivity {
     // panTiltView = new PanTiltView(this);
     navigationView = new NavigationView(this);
     navigationView.addLayer(new CameraLayer());
-    navigationView.addLayer(new CompressedOccupancyGridLayer());
-    navigationView.addLayer(new RobotLayer());
+    navigationView.addLayer(new CompressedBitmapLayer("~compressed_map"));
+    navigationView.addLayer(new RobotLayer("~pose"));
     navigationView.addLayer(new NavigationGoalLayer("simple_waypoints_server/goal_pose"));
     navigationView.addLayer(new SetPoseStampedLayer("simple_waypoints_server/goal_pose", "map"));
     initViews();