Mayor refactoring of android_honeycomb's map view.

Now, the view is called Navigation view and supports several layers of
different information to be visualized. The complete architecture was
refactored and cleaned up.

android_honeycomb_mr2/src/org/ros/android/views/map/Goal.java

@@ -1,116 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import org.ros.message.geometry_msgs.Pose;
-import org.ros.message.geometry_msgs.Vector3;
-import org.ros.rosjava_geometry.Geometry;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.FloatBuffer;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Goal implements OpenGlDrawable {
-
-  /**
-   * Vertices for the goal shape.
-   */
-  protected FloatBuffer vertexBuffer;
-  protected Pose pose;
-
-  @Override
-  public void draw(GL10 gl) {
-    if (pose == null) {
-      return;
-    }
-    gl.glPushMatrix();
-    gl.glDisable(GL10.GL_CULL_FACE);
-    gl.glFrontFace(GL10.GL_CW);
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, vertexBuffer);
-    gl.glTranslatef((float) pose.position.x, (float) pose.position.y, 0);
-    Vector3 axis = Geometry.calculateRotationAxis(pose.orientation);
-    gl.glRotatef((float) Math.toDegrees(Geometry.calculateRotationAngle(pose.orientation)),
-        (float) axis.x, (float) axis.y, (float) axis.z);
-    // The mesh is oriented along the y-axis. The ROS coordinate system wants it
-    // along the x-axis, so rotate it.
-    gl.glRotatef(90, 0, 0, 1);
-    gl.glScalef(1.5f, 1.5f, 1.5f);
-    gl.glColor4f(0.180392157f, 0.71372549f, 0.909803922f, 0.5f);
-    gl.glDrawArrays(GL10.GL_TRIANGLE_FAN, 0, vertexBuffer.limit() / 3);
-    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glPopMatrix();
-  }
-
-  public void init() {
-    float[] goalVertices = new float[10 * 3];
-    goalVertices[0] = 0f;
-    goalVertices[1] = 0f;
-    goalVertices[2] = 0f;
-    goalVertices[3] = 0f;
-    goalVertices[4] = 0.07f;
-    goalVertices[5] = 0f;
-    goalVertices[6] = 0.1f;
-    goalVertices[7] = 0.1f;
-    goalVertices[8] = 0f;
-    goalVertices[9] = 0.35f;
-    goalVertices[10] = 0f;
-    goalVertices[11] = 0f;
-    goalVertices[12] = 0.1f;
-    goalVertices[13] = -0.1f;
-    goalVertices[14] = 0f;
-    goalVertices[15] = 0f;
-    goalVertices[16] = -0.35f;
-    goalVertices[17] = 0f;
-    goalVertices[18] = -0.1f;
-    goalVertices[19] = -0.1f;
-    goalVertices[20] = 0f;
-    goalVertices[21] = -0.35f;
-    goalVertices[22] = 0f;
-    goalVertices[23] = 0f;
-    goalVertices[24] = -0.1f;
-    goalVertices[25] = 0.1f;
-    goalVertices[26] = 0f;
-    // Repeat of point 1
-    goalVertices[27] = 0f;
-    goalVertices[28] = 0.07f;
-    goalVertices[29] = 0f;
-    ByteBuffer goalVertexByteBuffer =
-        ByteBuffer.allocateDirect(goalVertices.length * Float.SIZE / 8);
-    goalVertexByteBuffer.order(ByteOrder.nativeOrder());
-    vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
-    vertexBuffer.put(goalVertices);
-    vertexBuffer.position(0);
-  }
-
-  /**
-   * Update the location and orientation of the current goal.
-   * 
-   * @param pose
-   *          Pose of the current goal.
-   * @param res
-   *          The resolution of the map
-   */
-  public void updatePose(Pose pose) {
-    this.pose = pose;
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/MapPoints.java

@@ -1,171 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import android.graphics.Bitmap;
-import android.graphics.Point;
-import org.ros.message.geometry_msgs.Pose;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * The helper function that draws the various aspect of the map.
- * 
- * @author munjaldesai@google.com (Munjal Desai)
- */
-class MapPoints {
-/**
-   * True when the vertex and index buffers have been initialized.
-   */
-  private boolean ready;
-  private Robot robot;
-  private Goal currentGoal;
-  private UserGoal userGoal;
-  private Path path;
-  private Region region;
-  private OccupancyGrid occupancyGrid;
-
-  public MapPoints() {
-    occupancyGrid = new OccupancyGrid();
-    robot = new Robot();
-    currentGoal = new Goal();
-    userGoal = new UserGoal();
-    path = new Path();
-    region = new Region();
-  }
-
-  public void updateMapFromBitmap(Pose origin, double resolution, Bitmap mapBitmap) {
-    occupancyGrid.update(origin, resolution, mapBitmap);
-    // Initialize the other components of the OpenGL display (if needed).
-    if (!ready) {
-      initRobot();
-      initCurrentGoal();
-      initUserGoal();
-      initPath();
-      setRegion(0, 0, 0, 0);
-      ready = true;
-    }
-  }
-
-  public void updatePath(org.ros.message.nav_msgs.Path newPath) {
-    path.update(newPath);
-  }
-
-  public void drawMap(GL10 gl) {
-    if (ready) {
-      occupancyGrid.draw(gl);
-    }
-  }
-
-  public void drawPath(GL10 gl) {
-    if (ready) {
-      path.draw(gl);
-    }
-  }
-
-  /**
-   * Renders the footprint of the robot and the outline of the robot's footprint
-   * based on the current zoom level. It compensates for the zoom level allowing
-   * the size of the outline to remain constant and hence always visible.
-   * 
-   * @param gl
-   *          Instance of the GL interface.
-   * @param scaleFactor
-   *          The amount by which the outline of the robot should be scaled.
-   */
-  public void drawRobot(GL10 gl, float scaleFactor) {
-    if (ready) {
-      robot.setScaleFactor(scaleFactor);
-      robot.draw(gl);
-    }
-  }
-
-  /**
-   * Renders the current goal specified by the user.
-   * 
-   * @param gl
-   *          Instance of the GL interface.
-   */
-  public void drawCurrentGoal(GL10 gl) {
-    if (ready) {
-      currentGoal.draw(gl);
-    }
-  }
-
-  /**
-   * Renders a shape similar to the shape used to show the current goal.
-   * However, this shape is bigger, has a constant size regardless of the zoom
-   * level and is colored pink.
-   * 
-   * @param gl
-   *          Instance of the GL interface.
-   * @param scaleFactor
-   *          The amount by which the goal shape should be scaled.
-   */
-  public void drawUserGoal(GL10 gl, float scaleFactor) {
-    if (ready) {
-      userGoal.setScaleFactor(scaleFactor);
-      userGoal.draw(gl);
-    }
-  }
-
-  public void updateRobotPose(Pose pose) {
-    robot.updatePose(pose);
-  }
-
-  public void updateCurrentGoalPose(Pose pose) {
-    currentGoal.updatePose(pose);
-  }
-
-  public void updateUserGoal(Pose goal) {
-    userGoal.updateUserGoal(goal);
-  }
-
-  /**
-   * Update the coordinates of the region currently selected by the user.
-   * 
-   * @param p1
-   *          The real world coordinate (in meters) of one of the contacts used
-   *          to specify the region.
-   * @param p2
-   *          The real world coordinate (in meters) of the other contact used to
-   *          specify the region.
-   */
-  public void updateRegion(Point p1, Point p2) {
-    setRegion(-p1.x, -p2.x, -p1.y, -p2.y);
-  }
-
-  private void initRobot() {
-    robot.initFootprint();
-  }
-
-  private void initCurrentGoal() {
-    currentGoal.init();
-  }
-
-  private void initUserGoal() {
-    userGoal.init();
-  }
-
-  private void initPath() {
-    path.init();
-  }
-
-  private void setRegion(float minX, float maxX, float minY, float maxY) {
-    region.init(minX, maxX, minY, maxY);
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/MapRenderer.java

@@ -1,268 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import com.google.common.base.Preconditions;
-
-import android.graphics.Bitmap;
-import android.opengl.GLSurfaceView;
-import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
-import org.ros.message.geometry_msgs.Point;
-import org.ros.message.geometry_msgs.Pose;
-import org.ros.message.nav_msgs.OccupancyGrid;
-import org.ros.message.nav_msgs.Path;
-import org.ros.rosjava_geometry.Geometry;
-
-import javax.microedition.khronos.egl.EGLConfig;
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * The renderer that creates and manages the OpenGL surface for the MapView.
- * 
- * @author munjaldesai@google.com (Munjal Desai)
- */
-class MapRenderer implements GLSurfaceView.Renderer {
-  /**
-   * Most the user can zoom in.
-   */
-  private static final float MIN_ZOOM_SCALE_FACTOR = 0.01f;
-  /**
-   * Most the user can zoom out.
-   */
-  private static final float MAX_ZOOM_SCALE_FACTOR = 1.0f;
-  /**
-   * Instance of the helper class that draws the map, robot, etc.
-   */
-  private MapPoints map;
-  /**
-   * Real world (x,y) coordinates of the camera. The depth (z-axis) is based on
-   * {@link #zoom}.
-   */
-  private Point cameraPoint = new Point();
-  /**
-   * The minimal x and y coordinates of the map in meters.
-   */
-  private Point topLeftMapPoint = new Point();
-  /**
-   * The maximal x and y coordinates of the map in meters.
-   */
-  private Point bottomRightMapPoint = new Point();
-  /**
-   * The current zoom factor used to scale the world.
-   */
-  private float scalingFactor = 0.1f;
-  /**
-   * True when the camera should follow the robot in the map centric mode, false
-   * otherwise.
-   */
-  private boolean centerOnRobot = false;
-  /**
-   * The Robot pose.
-   */
-  private Pose robotPose;
-  /**
-   * True when the icon for the user to specify a goal must be shown, false
-   * otherwise.
-   */
-  private boolean showUserGoal;
-
-  private android.graphics.Point viewport;
-
-  @Override
-  public void onSurfaceChanged(GL10 gl, int width, int height) {
-    gl.glViewport(0, 0, width, height);
-    gl.glMatrixMode(GL10.GL_PROJECTION);
-    gl.glLoadIdentity();
-    gl.glOrthof(-width / 2, -height / 2, width / 2, height / 2, -10.0f, 10.0f);
-    viewport = new android.graphics.Point(width, height);
-    gl.glMatrixMode(GL10.GL_MODELVIEW);
-    gl.glLoadIdentity();
-    gl.glBlendFunc(GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA);
-    gl.glEnable(GL10.GL_BLEND);
-    gl.glHint(GL10.GL_POLYGON_SMOOTH_HINT, GL10.GL_NICEST);
-    gl.glDisable(GL10.GL_LIGHTING);
-    gl.glDisable(GL10.GL_DEPTH_TEST);
-    gl.glEnable(GL10.GL_COLOR_MATERIAL);
-  }
-
-  @Override
-  public void onSurfaceCreated(GL10 gl, EGLConfig arg1) {
-    map = new MapPoints();
-  }
-
-  @Override
-  public void onDrawFrame(GL10 gl) {
-    gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
-    gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
-    gl.glLoadIdentity();
-    // We need to negate cameraLocation.x because at this point, in the OpenGL
-    // coordinate system, x is pointing left.
-    gl.glScalef(scalingFactor, scalingFactor, 1);
-    gl.glRotatef(90, 0, 0, 1);
-    gl.glTranslatef((float) -cameraPoint.x, (float) -cameraPoint.y, (float) -cameraPoint.z);
-    map.drawMap(gl);
-    map.drawPath(gl);
-    map.drawCurrentGoal(gl);
-    map.drawRobot(gl, 1.0f / scalingFactor);
-    if (showUserGoal) {
-      map.drawUserGoal(gl, 1.0f / scalingFactor);
-     }
-  }
-
-  public void updateMap(OccupancyGrid newMap) {
-    Bitmap mapBitmap = MapTextureBitmap.createFromOccupancyGrid(newMap);
-    map.updateMapFromBitmap(newMap.info.origin, newMap.info.resolution, mapBitmap);
-    topLeftMapPoint.x = (float) newMap.info.origin.position.x;
-    topLeftMapPoint.y = (float) newMap.info.origin.position.y;
-    bottomRightMapPoint.x = (float) topLeftMapPoint.x + newMap.info.width * newMap.info.resolution;
-    bottomRightMapPoint.y = (float) topLeftMapPoint.y + newMap.info.height * newMap.info.resolution;
-  }
-
-  public void updateCompressedMap(CompressedBitmap compressedMap) {
-    Preconditions.checkArgument(compressedMap.resolution_x == compressedMap.resolution_y);
-    Bitmap mapBitmap = MapTextureBitmap.createFromCompressedBitmap(compressedMap);
-    map.updateMapFromBitmap(compressedMap.origin, compressedMap.resolution_x, mapBitmap);
-    topLeftMapPoint.x = (float) compressedMap.origin.position.x;
-    topLeftMapPoint.y = (float) compressedMap.origin.position.y;
-    bottomRightMapPoint.x = (float) topLeftMapPoint.x + mapBitmap.getWidth() * compressedMap.resolution_x;
-    bottomRightMapPoint.y = (float) topLeftMapPoint.y + mapBitmap.getHeight() * compressedMap.resolution_y;
-  }
-
-  public void updatePath(Path path) {
-    map.updatePath(path);
-  }
-
-  /**
-   * Performs a (relative) movement of the camera. The distances are specified
-   * in the Android device's coordinate system, _not_ in OpenGL coordinates.
-   * 
-   * @param distanceX
-   *          distance along X to move
-   * @param distanceY
-   *          distance along Y to move
-   */
-  public void moveCamera(float distanceX, float distanceY) {
-    // Point is the relative movement in pixels on the viewport. We need to
-    // scale this by width end height of the viewport.
-    cameraPoint.x -= distanceY / viewport.y / scalingFactor;
-    cameraPoint.y -= distanceX / viewport.x / scalingFactor;
-    disableCenterOnRobot();
-  }
-
-  public void zoomCamera(float zoomLevel) {
-    scalingFactor *= zoomLevel;
-    if (scalingFactor < MIN_ZOOM_SCALE_FACTOR) {
-      scalingFactor = MIN_ZOOM_SCALE_FACTOR;
-    } else if (scalingFactor > MAX_ZOOM_SCALE_FACTOR) {
-      scalingFactor = MAX_ZOOM_SCALE_FACTOR;
-    }
-  }
-
-  public void enableCenterOnRobot() {
-    centerOnRobot = true;
-    centerOnRobot();
-  }
-
-  public void disableCenterOnRobot() {
-    centerOnRobot = false;
-  }
-
-  public boolean centerOnRobotEnabled() {
-    return centerOnRobot;
-  }
-
-  public void toggleCenterOnRobot() {
-    centerOnRobot = !centerOnRobot;
-  }
-
-  public void userGoalVisible(boolean visibility) {
-    showUserGoal = visibility;
-  }
-
-  /**
-   * Returns the real world equivalent of the viewport coordinates specified.
-   * 
-   * @param x
-   *          Coordinate of the view in pixels.
-   * @param y
-   *          Coordinate of the view in pixels.
-   * @return Real world coordinate.
-   */
-  public Point toOpenGLCoordinates(android.graphics.Point screenPoint) {
-    Point worldCoordinate = new Point();
-    worldCoordinate.x =
-        (0.5 - (double) screenPoint.y / viewport.y) / (0.5 * scalingFactor) + cameraPoint.x;
-    worldCoordinate.y =
-        (0.5 - (double) screenPoint.x / viewport.x) / (0.5 * scalingFactor) + cameraPoint.y;
-    worldCoordinate.z = 0;
-    return worldCoordinate;
-  }
-
-  /**
-   * Returns the pose in the OpenGL world that corresponds to a screen
-   * coordinate and an orientation.
-   * 
-   * @param goalScreenPoint
-   *          the point on the screen
-   * @param orientation
-   *          the orientation of the pose on the screen
-   */
-  public Pose toOpenGLPose(android.graphics.Point goalScreenPoint, float orientation) {
-    Pose goal = new Pose();
-    goal.position = toOpenGLCoordinates(goalScreenPoint);
-    goal.orientation = Geometry.axisAngleToQuaternion(0, 0, -1, orientation + Math.PI / 2);
-    return goal;
-  }
-
-  /**
-   * Passes the robot's pose to be updated on the map.
-   * 
-   * @param pose
-   *          Robot's pose in real world coordinate.
-   */
-  public void updateRobotPose(Pose pose) {
-    robotPose = pose;
-    map.updateRobotPose(pose);
-    if (centerOnRobot) {
-      centerOnRobot();
-    }
-  }
-
-  /**
-   * Selects the map centric mode or the robot centric mode.
-   * 
-   * @param isRobotCentricMode
-   *          True selects the robot centric mode and false selects the map
-   *          centric mode.
-   */
-  public void setViewMode(boolean isRobotCentricMode) {
-  }
-
-  public void updateCurrentGoalPose(Pose goalPose) {
-    map.updateCurrentGoalPose(goalPose);
-  }
-
-  public void centerOnRobot() {
-    if (robotPose != null) {
-      cameraPoint = robotPose.position;
-    }
-  }
-
-  public void updateUserGoal(Pose goal) {
-    map.updateUserGoal(goal);
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/MapTextureBitmap.java

@@ -1,97 +0,0 @@
-package org.ros.android.views.map;
-
-import android.graphics.Bitmap;
-import android.graphics.BitmapFactory;
-import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
-import org.ros.message.nav_msgs.OccupancyGrid;
-
-import java.nio.IntBuffer;
-
-public class MapTextureBitmap {
-  /**
-   * Color of occupied cells in the map.
-   */
-  private static final int COLOR_OCCUPIED = 0xffcc1919;
-
-  /**
-   * Color of free cells in the map.
-   */
-  private static final int COLOR_FREE = 0xff7d7d7d;
-
-  /**
-   * Color of unknown cells in the map.
-   */
-  private static final int COLOR_UNKNOWN = 0xff000000;
-
-  public static Bitmap createFromOccupancyGrid(OccupancyGrid occupancyGrid) {
-    return createSquareBitmap(occupancyGridToPixelArray(occupancyGrid),
-        (int) occupancyGrid.info.width, (int) occupancyGrid.info.height);
-  }
-
-  public static Bitmap createFromCompressedBitmap(CompressedBitmap compressedBitmap) {
-    BitmapFactory.Options options = new BitmapFactory.Options();
-    options.inPreferredConfig = Bitmap.Config.ARGB_8888;
-    Bitmap bitmap =
-        BitmapFactory.decodeByteArray(compressedBitmap.data, 0, compressedBitmap.data.length,
-            options);
-    IntBuffer pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
-    bitmap.copyPixelsToBuffer(pixels);
-    bitmap.recycle();
-    Bitmap result = createSquareBitmap(pixels.array(), bitmap.getWidth(), bitmap.getHeight());
-    return result;
-  }
-
-  private static Bitmap createSquareBitmap(int[] pixels, int width, int height) {
-    int bitmapSize = Math.max(width, height);
-    int[] squarePixelArray = makeSquarePixelArray(pixels, width, height, bitmapSize, COLOR_UNKNOWN);
-    return Bitmap.createBitmap(squarePixelArray, bitmapSize, bitmapSize, Bitmap.Config.ARGB_8888);
-  }
-
-  private static int[] occupancyGridToPixelArray(
-      org.ros.message.nav_msgs.OccupancyGrid occupancyGrid) {
-    int pixels[] = new int[occupancyGrid.data.length];
-    for (int i = 0; i < occupancyGrid.data.length; i++) {
-      if (occupancyGrid.data[i] == -1) {
-        pixels[i] = COLOR_UNKNOWN;
-      } else if (occupancyGrid.data[i] == 0) {
-        pixels[i] = COLOR_FREE;
-      } else {
-        pixels[i] = COLOR_OCCUPIED;
-      }
-    }
-    return pixels;
-  }
-
-  /**
-   * Takes a pixel array representing an image of size width and height and
-   * returns a square image with side length goalSize.
-   * 
-   * @param pixels
-   *          input pixels to format
-   * @param width
-   *          width of the input array
-   * @param height
-   *          height of the input array
-   * @param outputSize
-   *          side length of the output image
-   * @param fillColor
-   *          color to use for filling additional pixels
-   * @return the new pixel array with size goalSize * goalSize
-   */
-  private static int[] makeSquarePixelArray(int[] pixels, int width, int height, int outputSize,
-      int fillColor) {
-    int[] result = new int[outputSize * outputSize];
-    int maxWidth = width > outputSize ? width : outputSize;
-
-    for (int h = 0, i = 0; h < outputSize; h++) {
-      for (int w = 0; w < maxWidth; w++, i++) {
-        if (h < height && w < width) {
-          result[i] = pixels[h * width + w];
-        } else {
-          result[i] = fillColor;
-        }
-      }
-    }
-    return result;
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/MapView.java

@@ -1,353 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import android.content.Context;
-import android.graphics.PixelFormat;
-import android.graphics.Point;
-import android.opengl.GLSurfaceView;
-import android.view.GestureDetector;
-import android.view.MotionEvent;
-import android.view.ScaleGestureDetector;
-import org.ros.message.MessageListener;
-import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
-import org.ros.message.geometry_msgs.PoseStamped;
-import org.ros.message.geometry_msgs.PoseWithCovarianceStamped;
-import org.ros.message.nav_msgs.OccupancyGrid;
-import org.ros.message.nav_msgs.Path;
-import org.ros.node.Node;
-import org.ros.node.NodeMain;
-import org.ros.node.topic.Publisher;
-
-/**
- * Displays a map and other data on a OpenGL surface. This is an interactive map
- * that allows the user to pan, zoom, specify goals, initial pose, and regions.
- * 
- * @author munjaldesai@google.com (Munjal Desai)
- */
-public class MapView extends GLSurfaceView implements NodeMain {
-
-  /**
-   * Topic name for the map.
-   */
-  private static final String MAP_TOPIC_NAME = "~map";
-  /**
-   * Topic name at which the initial pose will be published.
-   */
-  private static final String INITIAL_POSE_TOPIC_NAME = "~initialpose";
-  /**
-   * Topic name at which the goal message will be published.
-   */
-  private static final String SIMPLE_GOAL_TOPIC = "simple_waypoints_server/goal_pose";
-  /**
-   * Topic name for the subscribed AMCL pose.
-   */
-  private static final String ROBOT_POSE_TOPIC = "~pose";
-  /**
-   * Topic name for the subscribed path.
-   */
-  private static final String PATH_TOPIC = "~global_plan";
-  /**
-   * Topic name for the compressed map.
-   */
-  private static final String COMPRESSED_MAP_TOPIC = "~compressed_map";
-  /**
-   * The OpenGL renderer that creates and manages the surface.
-   */
-  private MapRenderer mapRenderer;
-  private InteractionMode currentInteractionMode = InteractionMode.MOVE_MAP;
-  /**
-   * A sub-mode of InteractionMode.SPECIFY_LOCATION. True when the user is
-   * trying to set the initial pose of the robot. False when the user is
-   * specifying the goal point for the robot to autonomously navigate to.
-   */
-  private boolean initialPoseMode;
-  /**
-   * Records the on-screen location (in pixels) of the contact down event. Later
-   * when it is determined that the user was specifying a destination this
-   * points is translated to a position in the real world.
-   */
-  private Point goalContact = new Point();
-  /**
-   * Used to determine a long press and hold event in conjunction with
-   * {@link #longPressRunnable}.
-   */
-  // private Handler longPressHandler = new Handler();
-  /**
-   * Publisher for the initial pose of the robot for AMCL.
-   */
-  private Publisher<PoseWithCovarianceStamped> initialPose;
-  /**
-   * Publisher for user specified goal for autonomous navigation.
-   */
-  private Publisher<PoseStamped> goalPublisher;
-  private String poseFrameId;
-  private Node node;
-  private GestureDetector gestureDetector;
-  private ScaleGestureDetector scaleGestureDetector;
-
-  public MapView(Context context) {
-    super(context);
-    mapRenderer = new MapRenderer();
-    setEGLConfigChooser(8, 8, 8, 8, 0, 0);
-    getHolder().setFormat(PixelFormat.TRANSLUCENT);
-    setZOrderOnTop(true);
-    setRenderer(mapRenderer);
-    // This is important since the display needs to be updated only when new
-    // data is received.
-    setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
-    gestureDetector = new GestureDetector(context, new GestureDetector.SimpleOnGestureListener() {
-      @Override
-      public boolean onDoubleTap(MotionEvent event) {
-        mapRenderer.toggleCenterOnRobot();
-        requestRender();
-        return true;
-      }
-
-      @Override
-      public void onLongPress(MotionEvent event) {
-        System.out.println("onLongPress");
-        startSpecifyLocation((int) event.getX(), (int) event.getY());
-      }
-
-      @Override
-      public boolean onFling(MotionEvent event1, MotionEvent event2, float velocityX,
-          float velocityY) {
-        System.out.println("onFling" + velocityX + " " + velocityY);
-        return false;
-      }
-
-      @Override
-      public boolean onScroll(MotionEvent event1, MotionEvent event2, float distanceX,
-          float distanceY) {
-        mapRenderer.moveCamera(distanceX, distanceY);
-        requestRender();
-        return true;
-      }
-    });
-    scaleGestureDetector =
-        new ScaleGestureDetector(context, new ScaleGestureDetector.SimpleOnScaleGestureListener() {
-          @Override
-          public boolean onScale(ScaleGestureDetector detector) {
-            mapRenderer.zoomCamera(detector.getScaleFactor());
-            requestRender();
-            return true;
-          }
-        });
-  }
-
-  @Override
-  public void onStart(Node node) {
-    this.node = node;
-    // Initialize the goal publisher.
-    goalPublisher = node.newPublisher(SIMPLE_GOAL_TOPIC, "geometry_msgs/PoseStamped");
-    // Initialize the initial pose publisher.
-    initialPose =
-        node.newPublisher(INITIAL_POSE_TOPIC_NAME, "geometry_msgs/PoseWithCovarianceStamped");
-    // Subscribe to the map.
-    node.newSubscriber(MAP_TOPIC_NAME, "nav_msgs/OccupancyGrid",
-        new MessageListener<OccupancyGrid>() {
-          @Override
-          public void onNewMessage(final OccupancyGrid map) {
-            post(new Runnable() {
-              @Override
-              public void run() {
-                // Show the map.
-                mapRenderer.updateMap(map);
-                requestRender();
-              }
-            });
-          }
-        });
-    // Subscribe to the pose.
-    node.newSubscriber(ROBOT_POSE_TOPIC, "geometry_msgs/PoseStamped",
-        new MessageListener<PoseStamped>() {
-          @Override
-          public void onNewMessage(final PoseStamped message) {
-            post(new Runnable() {
-              @Override
-              public void run() {
-                poseFrameId = message.header.frame_id;
-                // Update the robot's location on the map.
-                mapRenderer.updateRobotPose(message.pose);
-                requestRender();
-              }
-            });
-          }
-        });
-    // Subscribe to the current goal.
-    node.newSubscriber(SIMPLE_GOAL_TOPIC, "geometry_msgs/PoseStamped",
-        new MessageListener<PoseStamped>() {
-          @Override
-          public void onNewMessage(final PoseStamped goal) {
-            post(new Runnable() {
-              @Override
-              public void run() {
-                // Update the location of the current goal on the map.
-                mapRenderer.updateCurrentGoalPose(goal.pose);
-                requestRender();
-              }
-            });
-          }
-        });
-    // Subscribe to the current path plan.
-    node.newSubscriber(PATH_TOPIC, "nav_msgs/Path", new MessageListener<Path>() {
-      @Override
-      public void onNewMessage(final Path path) {
-        post(new Runnable() {
-          @Override
-          public void run() {
-            // Update the path on the map.
-            mapRenderer.updatePath(path);
-            requestRender();
-          }
-        });
-      }
-    });
-    node.newSubscriber(COMPRESSED_MAP_TOPIC,
-        "compressed_visualization_transport_msgs/CompressedBitmap",
-        new MessageListener<CompressedBitmap>() {
-          @Override
-          public void onNewMessage(final CompressedBitmap compressedMap) {
-            // TODO Auto-generated method stub
-            post(new Runnable() {
-              @Override
-              public void run() {
-                mapRenderer.updateCompressedMap(compressedMap);
-                requestRender();
-              }
-            });
-          }
-        });
-  }
-
-  @Override
-  public void onShutdown(Node node) {
-  }
-
-  @Override
-  public boolean onTouchEvent(MotionEvent event) {
-    if (handleSetGoal(event)) {
-      return true;
-    }
-    if (gestureDetector.onTouchEvent(event)) {
-      return true;
-    }
-    if (scaleGestureDetector.onTouchEvent(event)) {
-      return true;
-    }
-    return true;
-  }
-
-  private boolean handleSetGoal(MotionEvent event) {
-    if (currentInteractionMode != InteractionMode.SPECIFY_LOCATION) {
-      return false;
-    }
-    if (event.getAction() == MotionEvent.ACTION_MOVE) {
-      contactMove(event);
-      return true;
-    } else if (event.getAction() == MotionEvent.ACTION_UP) {
-      contactUp(event);
-      return true;
-    }
-    return false;
-  }
-
-  /**
-   * Sets the map in robot centric or map centric mode. In robot centric mode
-   * the robot is always facing up and the map move and rotates to accommodate
-   * that. In map centric mode the map does not rotate. The robot can be
-   * centered if the user double taps on the view.
-   * 
-   * @param isRobotCentricMode
-   *          True for robot centric mode and false for map centric mode.
-   */
-  public void setViewMode(boolean isRobotCentricMode) {
-    mapRenderer.setViewMode(isRobotCentricMode);
-  }
-
-  /**
-   * Enable the initial pose selection mode. Next time the user specifies a pose
-   * it will be published as {@link #initialPose}. This mode is automatically
-   * disabled once an initial pose has been specified or if a user cancels the
-   * pose selection gesture (second finger on the screen).
-   */
-  public void initialPose() {
-    initialPoseMode = true;
-  }
-
-  private void contactMove(MotionEvent event) {
-    mapRenderer.updateUserGoal(mapRenderer.toOpenGLPose(goalContact,
-        getGoalOrientation(event.getX(0), event.getY(0))));
-    requestRender();
-  }
-
-  private void contactUp(MotionEvent event) {
-    // If the user was trying to specify a pose and just lifted the contact then
-    // publish the position based on the initial contact down location and the
-    // orientation based on the current contact up location.
-    System.out.println("contactUp");
-    if (poseFrameId != null && currentInteractionMode == InteractionMode.SPECIFY_LOCATION) {
-      PoseStamped poseStamped = new PoseStamped();
-      poseStamped.header.frame_id = poseFrameId;
-      poseStamped.header.stamp = node.getCurrentTime();
-      poseStamped.pose =
-          mapRenderer.toOpenGLPose(goalContact, getGoalOrientation(event.getX(), event.getY()));
-      // If the user was trying to specify an initial pose.
-      if (initialPoseMode) {
-        PoseWithCovarianceStamped poseWithCovarianceStamped = new PoseWithCovarianceStamped();
-        poseWithCovarianceStamped.header.frame_id = poseFrameId;
-        poseWithCovarianceStamped.pose.pose = poseStamped.pose;
-        // Publish the initial pose.
-        initialPose.publish(poseWithCovarianceStamped);
-      } else {
-        goalPublisher.publish(poseStamped);
-      }
-    }
-    endSpecifyLocation();
-  }
-
-  private void startSpecifyLocation(int x, int y) {
-    mapRenderer.userGoalVisible(true);
-    currentInteractionMode = InteractionMode.SPECIFY_LOCATION;
-    goalContact = new Point((int) x, (int) y);
-    mapRenderer.updateUserGoal(mapRenderer.toOpenGLPose(goalContact, 0));
-    requestRender();
-  }
-
-  private void endSpecifyLocation() {
-    currentInteractionMode = InteractionMode.MOVE_MAP;
-    initialPoseMode = false;
-    mapRenderer.userGoalVisible(false);
-    requestRender();
-  }
-
-  /**
-   * Returns the orientation of the specified point relative to
-   * {@link #goalContact}.
-   * 
-   * @param x
-   *          The x-coordinate of the contact in pixels on the view.
-   * @param y
-   *          The y-coordinate of the contact in pixels on the view.
-   * @return The angle between passed coordinates and {@link #goalContact} in
-   *         degrees (0 to 360).
-   */
-  private float getGoalOrientation(float x, float y) {
-    return (float) Math.atan2(y - goalContact.y, x - goalContact.x);
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/Path.java

@@ -1,92 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.FloatBuffer;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Path implements OpenGlDrawable {
-  /**
-   * Vertices for the path.
-   */
-  private FloatBuffer pathVertexBuffer;
-
-  private int pathIndexCount;
-  
-  /**
-   * Creates a new set of points to render. These points represent the path
-   * generated by the navigation planner.
-   * 
-   * @param newPath
-   *          The path generated by the planner.
-   * @param resolution
-   *          The resolution of the current map.
-   */
-  public void update(org.ros.message.nav_msgs.Path path) {
-    float[] pathVertices = new float[path.poses.size() * 3];
-    // Add the path coordinates to the array.
-    for (int i = 0; i < path.poses.size(); i++) {
-      pathVertices[i * 3] = (float) path.poses.get(i).pose.position.x;
-      pathVertices[i * 3 + 1] = (float) path.poses.get(i).pose.position.y;
-      pathVertices[i * 3 + 2] = 0f;
-    }
-    updateVertices(path, pathVertices);
-   }
-
-  private void updateVertices(org.ros.message.nav_msgs.Path path, float[] vertices) {
-    ByteBuffer pathVertexByteBuffer =
-        ByteBuffer.allocateDirect(vertices.length * Float.SIZE / 8);
-    pathVertexByteBuffer.order(ByteOrder.nativeOrder());
-    pathVertexBuffer = pathVertexByteBuffer.asFloatBuffer();
-    pathVertexBuffer.put(vertices);
-    pathVertexBuffer.position(0);
-    pathIndexCount = path.poses.size();
-  }
-  
-  public void init() {
-    float[] pathVertices = new float[3];
-    // 0,0
-    pathVertices[0] = 0f;
-    pathVertices[1] = 0f;
-    pathVertices[2] = 0f;
-    ByteBuffer pathVertexByteBuffer =
-        ByteBuffer.allocateDirect(pathVertices.length * Float.SIZE / 8);
-    pathVertexByteBuffer.order(ByteOrder.nativeOrder());
-    pathVertexBuffer = pathVertexByteBuffer.asFloatBuffer();
-    pathVertexBuffer.put(pathVertices);
-    pathVertexBuffer.position(0);
-    pathIndexCount = 0;
-  }
-
-  @Override
-  public void draw(GL10 gl) {
-    gl.glEnable(GL10.GL_POINT_SMOOTH);
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, pathVertexBuffer);
-    gl.glPointSize(2);
-    gl.glColor4f(0.2f, 0.8f, 0.2f, 1f);
-    gl.glDrawArrays(GL10.GL_POINTS, 0, pathIndexCount);
-    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glDisable(GL10.GL_POINT_SMOOTH);
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/Region.java

@@ -1,77 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.FloatBuffer;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Region implements OpenGlDrawable {
-
-  /**
-   * Vertices for the lines used to show the region selected for annotation.
-   */
-  private FloatBuffer regionVertexBuffer;
-
-  public void init(float minX, float maxX, float minY, float maxY) {
-    float[] regionVertices = new float[4 * 3];
-    // Location of points.
-    // 0------1
-    //
-    //
-    // 3------2
-    // Point 0
-    regionVertices[0] = minX;
-    regionVertices[1] = maxY;
-    regionVertices[2] = 0f;
-    // Point 1
-    regionVertices[3] = maxX;
-    regionVertices[4] = maxY;
-    regionVertices[5] = 0f;
-    // Point 2
-    regionVertices[6] = maxX;
-    regionVertices[7] = minY;
-    regionVertices[8] = 0f;
-    // Point 3
-    regionVertices[9] = minX;
-    regionVertices[10] = minY;
-    regionVertices[11] = 0f;
-    ByteBuffer regionVertexByteBuffer =
-        ByteBuffer.allocateDirect(regionVertices.length * Float.SIZE / 8);
-    regionVertexByteBuffer.order(ByteOrder.nativeOrder());
-    regionVertexBuffer = regionVertexByteBuffer.asFloatBuffer();
-    regionVertexBuffer.put(regionVertices);
-    regionVertexBuffer.position(0);
-  }
-
-  @Override
-  public void draw(GL10 gl) {
-    gl.glEnable(GL10.GL_LINE_SMOOTH);
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, regionVertexBuffer);
-    gl.glLineWidth(5f);
-    gl.glColor4f(0.2f, 0.2f, 0.8f, 1f);
-    gl.glDrawArrays(GL10.GL_LINE_LOOP, 0, 4);
-    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glDisable(GL10.GL_LINE_SMOOTH);
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/Robot.java

@@ -1,131 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import org.ros.message.geometry_msgs.Pose;
-import org.ros.message.geometry_msgs.Vector3;
-import org.ros.rosjava_geometry.Geometry;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.FloatBuffer;
-import java.nio.ShortBuffer;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Robot implements OpenGlDrawable {
-  /**
-   * Indices of the vertices for the robot's shape.
-   */
-  private ShortBuffer robotIndexBuffer;
-  /**
-   * Vertices for the robot's shape.
-   */
-  private FloatBuffer robotVertexBuffer;
-
-  private Pose robotPose;
-  private float scaleFactor;
-
-  public void initFootprint() {
-    float[] robotVertices = new float[12];
-    // The arrow shaped robot.
-    // 0,0
-    robotVertices[0] = 0f;
-    robotVertices[1] = 0f;
-    robotVertices[2] = 0f;
-
-    robotVertices[3] = -0.1f;
-    robotVertices[4] = -0.1f;
-    robotVertices[5] = 0f;
-
-    robotVertices[6] = -0.1f;
-    robotVertices[7] = 0.1f;
-    robotVertices[8] = 0f;
-
-    robotVertices[9] = 0.25f;
-    robotVertices[10] = 0.0f;
-    robotVertices[11] = 0f;
-
-    // Indices for the robot.
-    short[] robotIndices = new short[6];
-    // Left triangle (counter-clockwise)
-    robotIndices[0] = 0;
-    robotIndices[1] = 3;
-    robotIndices[2] = 1;
-    // Right triangle (counter-clockwise)
-    robotIndices[3] = 0;
-    robotIndices[4] = 2;
-    robotIndices[5] = 3;
-    ByteBuffer robotVertexByteBuffer =
-        ByteBuffer.allocateDirect(robotVertices.length * Float.SIZE / 8);
-    robotVertexByteBuffer.order(ByteOrder.nativeOrder());
-    robotVertexBuffer = robotVertexByteBuffer.asFloatBuffer();
-    robotVertexBuffer.put(robotVertices);
-    robotVertexBuffer.position(0);
-    ByteBuffer robotIndexByteBuffer =
-        ByteBuffer.allocateDirect(robotIndices.length * Integer.SIZE / 8);
-    robotIndexByteBuffer.order(ByteOrder.nativeOrder());
-    robotIndexBuffer = robotIndexByteBuffer.asShortBuffer();
-    robotIndexBuffer.put(robotIndices);
-    robotIndexBuffer.position(0);
-  }
-
-  @Override
-  public void draw(GL10 gl) {
-    drawFootprint(gl);
-  }
-
-  private void drawFootprint(GL10 gl) {
-    if (robotPose == null) {
-      return;
-    }
-    gl.glPushMatrix();
-    gl.glDisable(GL10.GL_CULL_FACE);
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glTranslatef((float) robotPose.position.x, (float) robotPose.position.y, 0.0f);
-    float robotThetaDegrees =
-        (float) Math.toDegrees(Geometry.calculateRotationAngle(robotPose.orientation));
-    Vector3 axis = Geometry.calculateRotationAxis(robotPose.orientation);
-    gl.glRotatef(robotThetaDegrees, (float) axis.x, (float) axis.y, (float) axis.z);
-    gl.glScalef(scaleFactor, scaleFactor, scaleFactor);
-    gl.glColor4f(0.0f, 0.635f, 1.0f, 0.5f);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, robotVertexBuffer);
-    gl.glDrawElements(GL10.GL_TRIANGLES, robotIndexBuffer.limit(), GL10.GL_UNSIGNED_SHORT,
-        robotIndexBuffer);
-    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glPopMatrix();
-  }
-
-  public void setScaleFactor(float scaleFactor) {
-    this.scaleFactor = scaleFactor;
-  }
-
-  /**
-   * Update the robot's location and orientation.
-   * 
-   * @param pose
-   *          Current pose of the robot.
-   * @param res
-   *          The resolution of the map
-   */
-  public void updatePose(Pose pose) {
-    robotPose = pose;
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/map/TextureNotInitialized.java

@@ -1,5 +0,0 @@
-package org.ros.android.views.map;
-
-public class TextureNotInitialized extends Exception {
-
-}

android_honeycomb_mr2/src/org/ros/android/views/map/UserGoal.java

@@ -1,116 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.android.views.map;
-
-import org.ros.message.geometry_msgs.Pose;
-import org.ros.message.geometry_msgs.Vector3;
-import org.ros.rosjava_geometry.Geometry;
-
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class UserGoal extends Goal {
-
-  private float scaleFactor;
-
-  @Override
-  public void draw(GL10 gl) {
-    gl.glPushMatrix();
-    gl.glDisable(GL10.GL_CULL_FACE);
-    gl.glFrontFace(GL10.GL_CW);
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, vertexBuffer);
-    gl.glTranslatef((float) pose.position.x, (float) pose.position.y, 0);
-    float thetaDegrees = (float) Math.toDegrees(Geometry.calculateRotationAngle(pose.orientation));
-    Vector3 axis = Geometry.calculateRotationAxis(pose.orientation);
-    gl.glRotatef(thetaDegrees, (float) axis.x, (float) axis.y, (float) axis.z);
-    // The mesh is oriented along the y axis. Rotate it to have it oriented
-    // along the y axis.
-    gl.glRotatef(-90, 0, 0, 1);
-    gl.glScalef(getScaleFactor(), getScaleFactor(), getScaleFactor());
-    gl.glScalef(1.5f, 1.5f, 1.5f);
-    gl.glColor4f(0.847058824f, 0.243137255f, 0.8f, 1f);
-    gl.glDrawArrays(GL10.GL_TRIANGLE_FAN, 0, vertexBuffer.limit() / 3);
-    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glPopMatrix();
-  }
-
-  @Override
-  public void init() {
-    float[] goalVertices = new float[10 * 3];
-    goalVertices[0] = 0f;
-    goalVertices[1] = 0f;
-    goalVertices[2] = 0f;
-    goalVertices[3] = 0f;
-    goalVertices[4] = 0.21f;
-    goalVertices[5] = 0f;
-    goalVertices[6] = 0.03f;
-    goalVertices[7] = 0.03f;
-    goalVertices[8] = 0f;
-    goalVertices[9] = 0.105f;
-    goalVertices[10] = 0f;
-    goalVertices[11] = 0f;
-    goalVertices[12] = 0.03f;
-    goalVertices[13] = -0.03f;
-    goalVertices[14] = 0f;
-    goalVertices[15] = 0f;
-    goalVertices[16] = -0.105f;
-    goalVertices[17] = 0f;
-    goalVertices[18] = -0.03f;
-    goalVertices[19] = -0.03f;
-    goalVertices[20] = 0f;
-    goalVertices[21] = -0.105f;
-    goalVertices[22] = 0f;
-    goalVertices[23] = 0f;
-    goalVertices[24] = -0.03f;
-    goalVertices[25] = 0.03f;
-    goalVertices[26] = 0f;
-    // Repeat of point 1
-    goalVertices[27] = 0f;
-    goalVertices[28] = 0.21f;
-    goalVertices[29] = 0f;
-    ByteBuffer goalVertexByteBuffer =
-        ByteBuffer.allocateDirect(goalVertices.length * Float.SIZE / 8);
-    goalVertexByteBuffer.order(ByteOrder.nativeOrder());
-    vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
-    vertexBuffer.put(goalVertices);
-    vertexBuffer.position(0);
-  }
-
-  public float getScaleFactor() {
-    return scaleFactor;
-  }
-
-  public void setScaleFactor(float scaleFactor) {
-    this.scaleFactor = scaleFactor;
-  }
-
-  /**
-   * Update the location of the goal that the user is trying to specify.
-   * 
-   * @param goal
-   *          the user goal
-   */
-  public void updateUserGoal(Pose goal) {
-    pose = goal;
-  }
-}

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

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.view.GestureDetector;
+import android.view.MotionEvent;
+import android.view.ScaleGestureDetector;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle
+ *
+ */
+public class CameraLayer implements NavigationViewLayer {
+
+  private GestureDetector gestureDetector;
+  private ScaleGestureDetector scaleGestureDetector;
+
+  @Override
+  public void draw(GL10 gl) {
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    if (gestureDetector.onTouchEvent(event)) {
+      System.out.println("touch event handled");
+      return true;
+    }
+    return scaleGestureDetector.onTouchEvent(event);
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    final NavigationView navigationView = view;
+    gestureDetector = new GestureDetector(context, new GestureDetector.SimpleOnGestureListener() {
+      @Override
+      public boolean onScroll(MotionEvent event1, MotionEvent event2, float distanceX,
+          float distanceY) {
+        System.out.println("scroll event");
+        navigationView.getRenderer().moveCameraScreenCoordinates(-distanceX, -distanceY);
+        navigationView.requestRender();
+        return true;
+      }
+    });
+    scaleGestureDetector =
+        new ScaleGestureDetector(context, new ScaleGestureDetector.SimpleOnScaleGestureListener() {
+          @Override
+          public boolean onScale(ScaleGestureDetector detector) {
+            navigationView.getRenderer().zoomCamera(detector.getScaleFactor());
+            navigationView.requestRender();
+            return true;
+          }
+        });
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+
+}

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

@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.view.MotionEvent;
+import org.ros.message.MessageListener;
+import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+
+import java.nio.IntBuffer;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle
+ *
+ */
+public class CompressedOccupancyGridLayer implements NavigationViewLayer, NodeMain {
+
+  private OccupancyGrid occupancyGrid = new OccupancyGrid();
+
+  private Subscriber<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap> compressedOccupancyGridSubscriber;
+
+  private NavigationView navigationView;
+
+  private boolean initialized = false;
+
+  @Override
+  public void onStart(Node node) {
+    compressedOccupancyGridSubscriber =
+        node.newSubscriber(
+            "~compressed_map",
+            "compressed_visualization_transport_msgs/CompressedBitmap",
+            new MessageListener<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>() {
+              @Override
+              public void onNewMessage(CompressedBitmap compressedBitmap) {
+                BitmapFactory.Options options = new BitmapFactory.Options();
+                options.inPreferredConfig = Bitmap.Config.ARGB_8888;
+                Bitmap bitmap =
+                    BitmapFactory.decodeByteArray(compressedBitmap.data, 0,
+                        compressedBitmap.data.length, options);
+                IntBuffer pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
+                bitmap.copyPixelsToBuffer(pixels);
+                bitmap.recycle();
+                Bitmap occupancyGridBitmap =
+                    TextureBitmapUtilities.createSquareBitmap(pixels.array(), bitmap.getWidth(),
+                        bitmap.getHeight(), 0xff000000);
+                occupancyGrid.update(compressedBitmap.origin, compressedBitmap.resolution_x,
+                    occupancyGridBitmap);
+                initialized = true;
+                navigationView.requestRender();
+              }
+            });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    compressedOccupancyGridSubscriber.shutdown();
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    if (initialized) {
+      occupancyGrid.draw(gl);
+    }
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    return false;
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+
+}

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

@@ -0,0 +1,111 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.view.MotionEvent;
+import org.ros.message.MessageListener;
+import org.ros.message.geometry_msgs.PoseStamped;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
+ */
+public class NavigationGoalLayer implements NavigationViewLayer, NodeMain {
+
+  private static final float vertices[] = {
+    0.0f, 0.0f, 0.0f, // center
+    -0.105f, 0.0f, 0.0f, // bottom
+    -0.15f, -0.15f, 0.0f, // bottom right
+    0.0f, -0.525f, 0.0f, // right
+    0.15f, -0.15f, 0.0f, // top right
+    0.524f, 0.0f, 0.0f, // top
+    0.15f, 0.15f, 0.0f, // top left
+    0.0f, 0.525f, 0.0f, // left
+    -0.15f, 0.15f, 0.0f, // bottom left
+    -0.105f, 0.0f, 0.0f // bottom
+  };
+  
+  private static final float color[] = { 0.180392157f, 0.71372549f, 0.909803922f, 0.5f };
+
+  private TriangleFanShape goalShape;
+  private Subscriber<org.ros.message.geometry_msgs.PoseStamped> poseSubscriber;
+  private boolean visible = false;
+
+  private NavigationView navigationView;
+
+  private String topic;
+  
+  public NavigationGoalLayer(String topic) {
+    this.topic = topic;
+    goalShape = new TriangleFanShape(vertices, color);
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    if (visible) {
+      goalShape.draw(gl);
+    }
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    return false;
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+
+  @Override
+  public void onStart(Node node) {
+    poseSubscriber =
+        node.newSubscriber(topic, "geometry_msgs/PoseStamped",
+            new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
+              @Override
+              public void onNewMessage(PoseStamped pose) {
+                goalShape.setPose(pose.pose);
+                visible = true;
+                navigationView.requestRender();
+              }
+            });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    poseSubscriber.shutdown();
+  }
+
+  public boolean isVisible() {
+    return visible;
+  }
+
+  public void setVisible(boolean visible) {
+    this.visible = visible;
+  }
+
+}

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

@@ -0,0 +1,136 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.graphics.PixelFormat;
+import android.opengl.GLSurfaceView;
+import android.view.MotionEvent;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+
+import java.util.Iterator;
+import java.util.LinkedList;
+
+public class NavigationView extends GLSurfaceView implements NodeMain {
+  private NavigationViewRenderer renderer;
+
+  private LinkedList<NavigationViewLayer> layers;
+
+  private Node node;
+
+  public NavigationView(Context context) {
+    super(context);
+    layers = new LinkedList<NavigationViewLayer>();
+    setEGLConfigChooser(8, 8, 8, 8, 0, 0);
+    getHolder().setFormat(PixelFormat.TRANSLUCENT);
+    setZOrderOnTop(true);
+    renderer = new NavigationViewRenderer(layers);
+    setRenderer(renderer);
+  }
+
+  public boolean onTouchEvent(MotionEvent event) {
+    Iterator<NavigationViewLayer> layerIterator = layers.descendingIterator();
+    while (layerIterator.hasNext()) {
+      if (layerIterator.next().onTouchEvent(this, event)) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+  public NavigationViewRenderer getRenderer() {
+    return renderer;
+  }
+  
+  /**
+   * Adds a new layer at the end of the layers collection. The new layer will be
+   * drawn last, i.e. on top of all other layers.
+   * 
+   * @param layer
+   *          layer to add
+   */
+  public void addLayer(NavigationViewLayer layer) {
+    layers.add(layer);
+    layer.onRegister(getContext(), this);
+    maybeStartLayerNode(node, layer);
+    requestRender();
+  }
+
+  /**
+   * Adds the layer at a specific index.
+   * 
+   * @param index
+   *          position of the added layer
+   * @param layer
+   *          layer to add
+   */
+  public void addLayerAtIndex(int index, NavigationViewLayer layer) {
+    layers.add(index, layer);
+    layer.onRegister(getContext(), this);
+    maybeStartLayerNode(node, layer);
+    requestRender();
+  }
+
+  public void addLayerBeforeOther(NavigationViewLayer other, NavigationViewLayer layer) {
+    addLayerAtIndex(layers.indexOf(other), layer);
+  }
+  
+  public void addLayerAfterOther(NavigationViewLayer other, NavigationViewLayer layer) {
+    addLayerAtIndex(layers.indexOf(other) + 1, layer);
+  }
+
+  public void removeLayer(NavigationViewLayer layer) {
+    layer.onUnregister();
+    layers.remove(layer);
+    maybeShutdownLayerNode(node, layer);
+  }
+
+  public void removeLayerAtIndex(int index) {
+    NavigationViewLayer layer = layers.remove(index);
+    layer.onUnregister();
+    maybeShutdownLayerNode(node, layer);
+  }
+
+  @Override
+  public void onStart(Node node) {
+    this.node = node;
+    for (NavigationViewLayer layer : layers) {
+      maybeStartLayerNode(node, layer);
+    }
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    for (NavigationViewLayer layer: layers) {
+      maybeShutdownLayerNode(node, layer);
+    }
+    this.node = null;
+  }
+
+  private void maybeStartLayerNode(Node node, NavigationViewLayer layer) {
+    if (node != null && layer instanceof NodeMain) {
+      ((NodeMain) layer).onStart(node);
+    }
+  }
+
+  private void maybeShutdownLayerNode(Node node, NavigationViewLayer layer) {
+    if (node != null && layer instanceof NodeMain) {
+      ((NodeMain) layer).onShutdown(node);
+    }
+  }
+}

android_honeycomb_mr2/src/org/ros/android/views/map/InteractionMode.java → android_honeycomb_mr2/src/org/ros/android/views/navigation/NavigationViewLayer.java

@@ -14,16 +14,26 @@
  * the License.
  */
 
-package org.ros.android.views.map;
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.view.MotionEvent;
+
+import javax.microedition.khronos.opengles.GL10;
 
 /**
- * @author munjaldesai@google.com (Munjal Desai)
+ * Interface for a drawable layer on a NavigationView.
+ * 
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
  */
-enum InteractionMode {
-  // When the user starts moves the map but the distance moved is less than
-  // FINAL_MAP_MODE_DISTANCE_THRESHOLD.
-  MOVE_MAP,
-  // When the user is trying to specify a location (either a goal or initial
-  // pose).
-  SPECIFY_LOCATION
-}
+public interface NavigationViewLayer extends OpenGlDrawable {
+
+  public void draw(GL10 gl);
+
+  public boolean onTouchEvent(NavigationView view, MotionEvent event);
+
+  public void onRegister(Context context, NavigationView view);
+
+  public void onUnregister();
+}

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

@@ -0,0 +1,195 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.opengl.GLSurfaceView;
+import org.ros.message.geometry_msgs.Point;
+import org.ros.message.geometry_msgs.Pose;
+import org.ros.rosjava_geometry.Geometry;
+
+import java.util.List;
+
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * Renders all layers of a navigation view.
+ * 
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
+ */
+public class NavigationViewRenderer implements GLSurfaceView.Renderer {
+  /**
+   * Most the user can zoom in.
+   */
+  private static final float MIN_ZOOM_SCALE_FACTOR = 0.01f;
+  /**
+   * Most the user can zoom out.
+   */
+  private static final float MAX_ZOOM_SCALE_FACTOR = 1.0f;
+  /**
+   * Size of the viewport.
+   */
+  private android.graphics.Point viewport;
+
+  /**
+   * Real world (x,y) coordinates of the camera.
+   */
+  private Point cameraPoint = new Point();
+  /**
+   * The current zoom factor used to scale the world.
+   */
+  private float scalingFactor = 0.1f;
+
+  /**
+   * List of layers to draw. Layers are drawn in-order, i.e. the layer with
+   * index 0 is the bottom layer and is drawn first.
+   */
+  private List<NavigationViewLayer> layers;
+
+  public NavigationViewRenderer(List<NavigationViewLayer> layers) {
+    this.layers = layers;
+  }
+
+  @Override
+  public void onSurfaceChanged(GL10 gl, int width, int height) {
+    gl.glViewport(0, 0, width, height);
+    gl.glMatrixMode(GL10.GL_PROJECTION);
+    gl.glLoadIdentity();
+    gl.glOrthof(-width / 2, -height / 2, width / 2, height / 2, -10.0f, 10.0f);
+    viewport = new android.graphics.Point(width, height);
+    gl.glMatrixMode(GL10.GL_MODELVIEW);
+    gl.glLoadIdentity();
+    gl.glBlendFunc(GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA);
+    gl.glEnable(GL10.GL_BLEND);
+    gl.glHint(GL10.GL_POLYGON_SMOOTH_HINT, GL10.GL_NICEST);
+    gl.glDisable(GL10.GL_LIGHTING);
+    gl.glDisable(GL10.GL_DEPTH_TEST);
+    gl.glEnable(GL10.GL_COLOR_MATERIAL);
+  }
+
+  @Override
+  public void onDrawFrame(GL10 gl) {
+    gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+    gl.glClear(GL10.GL_COLOR_BUFFER_BIT);
+    gl.glLoadIdentity();
+    // We need to negate cameraLocation.x because at this point, in the OpenGL
+    // coordinate system, x is pointing left.
+    gl.glScalef(getScalingFactor(), getScalingFactor(), 1);
+    gl.glRotatef(90, 0, 0, 1);
+    gl.glTranslatef((float) -cameraPoint.x, (float) -cameraPoint.y, (float) -cameraPoint.z);
+    drawLayers(gl);
+  }
+
+  @Override
+  public void onSurfaceCreated(GL10 gl, EGLConfig config) {
+  }
+
+  /**
+   * Moves the camera.
+   * 
+   * @param distanceX
+   *          distance to move in x in world coordinates
+   * @param distanceY
+   *          distance to move in y in world coordinates
+   */
+  public void moveCamera(float distanceX, float distanceY) {
+    cameraPoint.x += distanceX;
+    cameraPoint.y += distanceY;
+  }
+
+  /**
+   * Moves the camera. The distances are given in viewport coordinates, _not_ in
+   * world coordinates.
+   * 
+   * @param distanceX
+   *          distance in x to move
+   * @param distanceY
+   *          distance in y to move
+   */
+  public void moveCameraScreenCoordinates(float distanceX, float distanceY) {
+    // Point is the relative movement in pixels on the viewport. We need to
+    // scale this by width end height of the viewport.
+    cameraPoint.x += distanceY / viewport.y / getScalingFactor();
+    cameraPoint.y += distanceX / viewport.x / getScalingFactor();
+  }
+
+  public void setCamera(Point newCameraPoint) {
+    cameraPoint = newCameraPoint;
+  }
+
+  public void zoomCamera(float factor) {
+    setScalingFactor(getScalingFactor() * factor);
+    if (getScalingFactor() < MIN_ZOOM_SCALE_FACTOR) {
+      setScalingFactor(MIN_ZOOM_SCALE_FACTOR);
+    } else if (getScalingFactor() > MAX_ZOOM_SCALE_FACTOR) {
+      setScalingFactor(MAX_ZOOM_SCALE_FACTOR);
+    }
+  }
+
+  /**
+   * Returns the real world equivalent of the viewport coordinates specified.
+   * 
+   * @param x
+   *          Coordinate of the view in pixels.
+   * @param y
+   *          Coordinate of the view in pixels.
+   * @return Real world coordinate.
+   */
+  public Point toOpenGLCoordinates(android.graphics.Point screenPoint) {
+    Point worldCoordinate = new Point();
+    worldCoordinate.x =
+        (0.5 - (double) screenPoint.y / viewport.y) / (0.5 * getScalingFactor()) + cameraPoint.x;
+    worldCoordinate.y =
+        (0.5 - (double) screenPoint.x / viewport.x) / (0.5 * getScalingFactor()) + cameraPoint.y;
+    worldCoordinate.z = 0;
+    return worldCoordinate;
+  }
+
+  /**
+   * Returns the pose in the OpenGL world that corresponds to a screen
+   * coordinate and an orientation.
+   * 
+   * @param goalScreenPoint
+   *          the point on the screen
+   * @param orientation
+   *          the orientation of the pose on the screen
+   */
+  public Pose toOpenGLPose(android.graphics.Point goalScreenPoint, float orientation) {
+    Pose goal = new Pose();
+    goal.position = toOpenGLCoordinates(goalScreenPoint);
+    goal.orientation = Geometry.axisAngleToQuaternion(0, 0, -1, orientation + Math.PI / 2);
+    return goal;
+  }
+
+  private void drawLayers(GL10 gl) {
+    for (NavigationViewLayer layer : layers) {
+      gl.glPushMatrix();
+      layer.draw(gl);
+      gl.glPopMatrix();
+    }
+  }
+
+  public float getScalingFactor() {
+    return scalingFactor;
+  }
+
+  public void setScalingFactor(float scalingFactor) {
+    this.scalingFactor = scalingFactor;
+  }
+
+}

android_honeycomb_mr2/src/org/ros/android/views/map/OccupancyGrid.java → android_honeycomb_mr2/src/org/ros/android/views/navigation/OccupancyGrid.java

@@ -14,10 +14,11 @@
  * the License.
  */
 
-package org.ros.android.views.map;
+package org.ros.android.views.navigation;
 
 import com.google.common.base.Preconditions;
 
+
 import android.graphics.Bitmap;
 import org.ros.message.geometry_msgs.Pose;
 import org.ros.rosjava_geometry.Geometry;

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

@@ -0,0 +1,117 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.view.MotionEvent;
+import org.ros.message.MessageListener;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle
+ *
+ */
+public class OccupancyGridLayer implements NavigationViewLayer, NodeMain {
+  /**
+   * Color of occupied cells in the map.
+   */
+  private static final int COLOR_OCCUPIED = 0xffcc1919;
+
+  /**
+   * Color of free cells in the map.
+   */
+  private static final int COLOR_FREE = 0xff7d7d7d;
+
+  /**
+   * Color of unknown cells in the map.
+   */
+  private static final int COLOR_UNKNOWN = 0xff000000;
+
+  private OccupancyGrid occupancyGrid = new OccupancyGrid();
+
+  private Subscriber<org.ros.message.nav_msgs.OccupancyGrid> occupancyGridSubscriber;
+
+  private NavigationView navigationView;
+
+  private boolean initialized = false;
+
+  @Override
+  public void draw(GL10 gl) {
+    if (initialized) {
+      occupancyGrid.draw(gl);
+    }
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    return false;
+  }
+
+  @Override
+  public void onStart(Node node) {
+    occupancyGridSubscriber =
+        node.newSubscriber("~map", "nav_msgs/OccupancyGrid",
+            new MessageListener<org.ros.message.nav_msgs.OccupancyGrid>() {
+              @Override
+              public void onNewMessage(org.ros.message.nav_msgs.OccupancyGrid occupancyGridMessage) {
+                Bitmap occupancyGridBitmap =
+                    TextureBitmapUtilities.createSquareBitmap(
+                        occupancyGridToPixelArray(occupancyGridMessage),
+                        (int) occupancyGridMessage.info.width,
+                        (int) occupancyGridMessage.info.height, COLOR_UNKNOWN);
+                occupancyGrid.update(occupancyGridMessage.info.origin,
+                    occupancyGridMessage.info.resolution, occupancyGridBitmap);
+                initialized = true;
+                navigationView.requestRender();
+              }
+            });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    occupancyGridSubscriber.shutdown();
+  }
+
+  private static int[] occupancyGridToPixelArray(
+      org.ros.message.nav_msgs.OccupancyGrid occupancyGrid) {
+    int pixels[] = new int[occupancyGrid.data.length];
+    for (int i = 0; i < occupancyGrid.data.length; i++) {
+      if (occupancyGrid.data[i] == -1) {
+        pixels[i] = COLOR_UNKNOWN;
+      } else if (occupancyGrid.data[i] == 0) {
+        pixels[i] = COLOR_FREE;
+      } else {
+        pixels[i] = COLOR_OCCUPIED;
+      }
+    }
+    return pixels;
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+}

android_honeycomb_mr2/src/org/ros/android/views/map/OccupancyGridTexture.java → android_honeycomb_mr2/src/org/ros/android/views/navigation/OccupancyGridTexture.java

@@ -1,4 +1,4 @@
-package org.ros.android.views.map;
+package org.ros.android.views.navigation;
 
 import com.google.common.base.Preconditions;
 

android_honeycomb_mr2/src/org/ros/android/views/map/OpenGlDrawable.java → android_honeycomb_mr2/src/org/ros/android/views/navigation/OpenGlDrawable.java

@@ -14,7 +14,7 @@
  * the License.
  */
 
-package org.ros.android.views.map;
+package org.ros.android.views.navigation;
 
 import javax.microedition.khronos.opengles.GL10;
 

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

@@ -0,0 +1,114 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.view.MotionEvent;
+import org.ros.message.MessageListener;
+import org.ros.message.geometry_msgs.PoseStamped;
+import org.ros.message.nav_msgs.Path;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
+ */
+public class PathLayer implements NavigationViewLayer, NodeMain {
+
+  static final float color[] = { 0.2f, 0.8f, 0.2f, 1.0f };
+  
+  private FloatBuffer pathVertexBuffer;
+  private boolean visible = false;
+
+  private Subscriber<Path> pathSubscriber;
+
+  private NavigationView navigationView;
+
+  @Override
+  public void draw(GL10 gl) {
+    if (!visible) {
+      return;
+    }
+    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
+    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, pathVertexBuffer);
+    gl.glColor4f(color[0], color[1], color[2], color[3]);
+    gl.glDrawArrays(GL10.GL_LINE_STRIP, 0, pathVertexBuffer.limit() / 3);
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    return false;
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+
+  @Override
+  public void onStart(Node node) {
+    pathSubscriber = node.newSubscriber("~path", "nav_msgs/Path", new MessageListener<Path>() {
+      @Override
+      public void onNewMessage(Path path) {
+        pathVertexBuffer = makePathVertices(path);
+        setVisible(true);
+        navigationView.requestRender();
+      }
+    });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    pathSubscriber.shutdown();
+  }
+
+  public boolean isVisible() {
+    return visible;
+  }
+
+  public void setVisible(boolean visible) {
+    this.visible = visible;
+  }
+
+  private FloatBuffer makePathVertices(Path path) {
+    ByteBuffer goalVertexByteBuffer =
+        ByteBuffer.allocateDirect(path.poses.size() * 3 * Float.SIZE / 8);
+    goalVertexByteBuffer.order(ByteOrder.nativeOrder());
+    FloatBuffer vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
+    for (PoseStamped pose : path.poses) {
+      // TODO(moesenle): use TF here to respect the frameId.
+      vertexBuffer.put((float) pose.pose.position.x);
+      vertexBuffer.put((float) pose.pose.position.y);
+      vertexBuffer.put((float) pose.pose.position.z);
+    }
+    vertexBuffer.position(0);
+
+    return null;
+  }
+}

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

@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import android.content.Context;
+import android.view.MotionEvent;
+import org.ros.message.MessageListener;
+import org.ros.message.geometry_msgs.PoseStamped;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle
+ *
+ */
+public class RobotLayer implements NavigationViewLayer, NodeMain {
+
+  private static final float vertices[] = {
+    0.0f, 0.0f, 0.0f, // Top
+    -0.1f, -0.1f, 0.0f, // Bottom left
+    0.25f, 0.0f, 0.0f, // Bottom center
+    -0.1f, 0.1f, 0.0f, // Bottom right
+  };
+
+  private static final float color[] = { 0.0f, 0.635f, 1.0f, 0.5f };
+
+  private TriangleFanShape robotShape;
+  private Subscriber<org.ros.message.geometry_msgs.PoseStamped> poseSubscriber;
+  private NavigationView navigationView;
+  private boolean initialized = false;
+
+  public RobotLayer() {
+    robotShape = new TriangleFanShape(vertices, color);
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    if (!initialized) {
+      return;
+    }
+    // To keep the robot's size constant even when scaled, we apply the inverse
+    // scaling factor before drawing.
+    robotShape.setScaleFactor(1 / navigationView.getRenderer().getScalingFactor());
+    robotShape.draw(gl);
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    return false;
+  }
+
+  @Override
+  public void onStart(Node node) {
+    poseSubscriber =
+        node.newSubscriber("~pose", "geometry_msgs/PoseStamped",
+            new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
+              @Override
+              public void onNewMessage(PoseStamped pose) {
+                robotShape.setPose(pose.pose);
+                initialized = true;
+              }
+            });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    poseSubscriber.shutdown();
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+}

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

@@ -0,0 +1,142 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import com.google.common.base.Preconditions;
+
+import android.content.Context;
+import android.view.GestureDetector;
+import android.view.MotionEvent;
+import org.ros.message.geometry_msgs.Point;
+import org.ros.message.geometry_msgs.Pose;
+import org.ros.message.geometry_msgs.PoseStamped;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.topic.Publisher;
+import org.ros.rosjava_geometry.Geometry;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
+ */
+public class SetPoseStampedLayer implements NavigationViewLayer, NodeMain {
+
+  private static final float vertices[] = { 0.0f, 0.0f, 0.0f, // center
+      -0.251f, 0.0f, 0.0f, // bottom
+      -0.075f, -0.075f, 0.0f, // bottom right
+      0.0f, -0.251f, 0.0f, // right
+      0.075f, -0.075f, 0.0f, // top right
+      0.510f, 0.0f, 0.0f, // top
+      0.075f, 0.075f, 0.0f, // top left
+      0.0f, 0.251f, 0.0f, // left
+      -0.075f, 0.075f, 0.0f, // bottom left
+      -0.251f, 0.0f, 0.0f // bottom again
+      };
+
+  private static final float color[] = { 0.847058824f, 0.243137255f, 0.8f, 1f };
+
+  private TriangleFanShape poseShape;
+  private Publisher<org.ros.message.geometry_msgs.PoseStamped> posePublisher;
+  private boolean visible = false;
+  private String topic;
+  private NavigationView navigationView;
+  private GestureDetector gestureDetector;
+  private Pose pose;
+  private String frameId;
+
+  private Node node;
+
+  public SetPoseStampedLayer(String topic, String frameId) {
+    this.topic = topic;
+    this.frameId = frameId;
+    poseShape = new TriangleFanShape(vertices, color);
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    if (visible) {
+      Preconditions.checkNotNull(pose);
+      poseShape.setScaleFactor(1 / navigationView.getRenderer().getScalingFactor());
+      poseShape.draw(gl);
+    }
+  }
+
+  @Override
+  public boolean onTouchEvent(NavigationView view, MotionEvent event) {
+    if (visible) {
+      Preconditions.checkNotNull(pose);
+      if (event.getAction() == MotionEvent.ACTION_MOVE) {
+        Point xAxis = new Point();
+        xAxis.x = 1.0;
+        pose.orientation =
+            Geometry.calculateRotationBetweenVectors(xAxis, Geometry.vectorMinus(
+                navigationView.getRenderer().toOpenGLCoordinates(
+                    new android.graphics.Point((int) event.getX(), (int) event.getY())),
+                pose.position));
+        poseShape.setPose(pose);
+        navigationView.requestRender();
+        return true;
+      } else if (event.getAction() == MotionEvent.ACTION_UP) {
+        PoseStamped poseStamped = new PoseStamped();
+        poseStamped.header.frame_id = frameId;
+        poseStamped.header.stamp = node.getCurrentTime();
+        poseStamped.pose = pose;
+        posePublisher.publish(poseStamped);
+        visible = false;
+        navigationView.requestRender();
+        return true;
+      }
+    }
+    gestureDetector.onTouchEvent(event);
+    return false;
+  }
+
+  @Override
+  public void onRegister(Context context, NavigationView view) {
+    navigationView = view;
+    gestureDetector = new GestureDetector(context, new GestureDetector.SimpleOnGestureListener() {
+      @Override
+      public void onLongPress(MotionEvent e) {
+        pose = new Pose();
+        pose.position =
+            navigationView.getRenderer().toOpenGLCoordinates(
+                new android.graphics.Point((int) e.getX(), (int) e.getY()));
+        pose.orientation.w = 1.0;
+        poseShape.setPose(pose);
+        visible = true;
+        navigationView.requestRender();
+      }
+    });
+  }
+
+  @Override
+  public void onUnregister() {
+  }
+
+  @Override
+  public void onStart(Node node) {
+    this.node = node;
+    posePublisher = node.newPublisher(topic, "geometry_msgs/PoseStamped");
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    posePublisher.shutdown();
+  }
+}

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

@@ -0,0 +1,45 @@
+package org.ros.android.views.navigation;
+
+import android.graphics.Bitmap;
+
+public class TextureBitmapUtilities {
+
+  public static Bitmap createSquareBitmap(int[] pixels, int width, int height, int fillColor) {
+    int bitmapSize = Math.max(width, height);
+    int[] squarePixelArray = makeSquarePixelArray(pixels, width, height, bitmapSize, fillColor);
+    return Bitmap.createBitmap(squarePixelArray, bitmapSize, bitmapSize, Bitmap.Config.ARGB_8888);
+  }
+
+  /**
+   * Takes a pixel array representing an image of size width and height and
+   * returns a square image with side length goalSize.
+   * 
+   * @param pixels
+   *          input pixels to format
+   * @param width
+   *          width of the input array
+   * @param height
+   *          height of the input array
+   * @param outputSize
+   *          side length of the output image
+   * @param fillColor
+   *          color to use for filling additional pixels
+   * @return the new pixel array with size goalSize * goalSize
+   */
+  private static int[] makeSquarePixelArray(int[] pixels, int width, int height, int outputSize,
+      int fillColor) {
+    int[] result = new int[outputSize * outputSize];
+    int maxWidth = width > outputSize ? width : outputSize;
+
+    for (int h = 0, i = 0; h < outputSize; h++) {
+      for (int w = 0; w < maxWidth; w++, i++) {
+        if (h < height && w < width) {
+          result[i] = pixels[h * width + w];
+        } else {
+          result[i] = fillColor;
+        }
+      }
+    }
+    return result;
+  }
+}

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

@@ -0,0 +1,6 @@
+package org.ros.android.views.navigation;
+
+@SuppressWarnings("serial")
+public class TextureNotInitialized extends Exception {
+
+}

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

@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.android.views.navigation;
+
+import org.ros.message.geometry_msgs.Pose;
+import org.ros.message.geometry_msgs.Vector3;
+import org.ros.rosjava_geometry.Geometry;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * Draws a shape based on an array of vertices using OpenGl's GL_TRIANGLE_FAN
+ * method.
+ * 
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ * 
+ */
+public class TriangleFanShape implements OpenGlDrawable {
+
+  private FloatBuffer vertexBuffer;
+  private float scaleFactor = 1.0f;
+  private Pose pose;
+  private float[] color;
+
+  /**
+   * Constructs a TriangleFanShape, i.e. an OpenGL shape represented by
+   * triangles. The format of vertices is according to OpenGL's GL_TRIANGLE_FAN
+   * method.
+   * 
+   * @param vertices
+   *          array of vertices
+   * @param color
+   *          RGBA color values
+   */
+  public TriangleFanShape(float[] vertices, float[] color) {
+    pose = new Pose();
+    pose.orientation.w = 1.0;
+    ByteBuffer goalVertexByteBuffer = ByteBuffer.allocateDirect(vertices.length * Float.SIZE / 8);
+    goalVertexByteBuffer.order(ByteOrder.nativeOrder());
+    vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
+    vertexBuffer.put(vertices);
+    vertexBuffer.position(0);
+    this.color = color;
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    gl.glTranslatef((float) pose.position.x, (float) pose.position.y, (float) pose.position.z);
+    Vector3 axis = Geometry.calculateRotationAxis(pose.orientation);
+    float angle = (float) Math.toDegrees(Geometry.calculateRotationAngle(pose.orientation));
+    gl.glRotatef(angle, (float) axis.x, (float) axis.y, (float) axis.z);
+    gl.glScalef(getScaleFactor(), getScaleFactor(), getScaleFactor());
+    gl.glDisable(GL10.GL_CULL_FACE);
+    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
+    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, vertexBuffer);
+    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
+    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, vertexBuffer);
+    gl.glColor4f(color[0], color[1], color[2], color[3]);
+    gl.glDrawArrays(GL10.GL_TRIANGLE_FAN, 0, vertexBuffer.limit() / 3);
+    gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
+  }
+
+  public Pose getPose() {
+    return pose;
+  }
+
+  public void setPose(Pose pose) {
+    this.pose = pose;
+  }
+
+  public float getScaleFactor() {
+    return scaleFactor;
+  }
+
+  public void setScaleFactor(float scaleFactor) {
+    this.scaleFactor = scaleFactor;
+  }
+
+  public float[] getColor() {
+    return color;
+  }
+
+  public void setColor(float[] color) {
+    this.color = color;
+  }
+}

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

@@ -29,7 +29,12 @@ import org.ros.android.views.PanTiltView;
 import org.ros.android.views.RosImageView;
 import org.ros.android.views.VirtualJoystickView;
 import org.ros.android.views.ZoomMode;
-import org.ros.android.views.map.MapView;
+import org.ros.android.views.navigation.CameraLayer;
+import org.ros.android.views.navigation.CompressedOccupancyGridLayer;
+import org.ros.android.views.navigation.NavigationGoalLayer;
+import org.ros.android.views.navigation.NavigationView;
+import org.ros.android.views.navigation.RobotLayer;
+import org.ros.android.views.navigation.SetPoseStampedLayer;
 import org.ros.message.sensor_msgs.CompressedImage;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeRunner;
@@ -63,7 +68,7 @@ public class MainActivity extends RosActivity {
   /**
    * Instance of an interactive map view.
    */
-  private MapView mapView;
+  private NavigationView navigationView;
   /**
    * Instance of {@link RosImageView} that can display video from a compressed
    * image source.
@@ -125,15 +130,15 @@ public class MainActivity extends RosActivity {
     case R.id.map_view_robot_centric_view: {
       if (!item.isChecked()) {
         item.setChecked(true);
-        mapView.setViewMode(true);
+          // navigationView.setViewMode(true);
       } else {
         item.setChecked(false);
-        mapView.setViewMode(false);
+          // navigationView.setViewMode(false);
       }
       return true;
     }
     case R.id.map_view_initial_pose: {
-      mapView.initialPose();
+        // navigationView.initialPose();
       return true;
     }
     case R.id.virtual_joystick_snap: {
@@ -160,7 +165,12 @@ public class MainActivity extends RosActivity {
     distanceView = new DistanceView(this);
     distanceView.setTopicName("base_scan");
     // panTiltView = new PanTiltView(this);
-    mapView = new MapView(this);
+    navigationView = new NavigationView(this);
+    navigationView.addLayer(new CameraLayer());
+    navigationView.addLayer(new CompressedOccupancyGridLayer());
+    navigationView.addLayer(new RobotLayer());
+    navigationView.addLayer(new NavigationGoalLayer("simple_waypoints_server/goal_pose"));
+    navigationView.addLayer(new SetPoseStampedLayer("simple_waypoints_server/goal_pose", "map"));
     initViews();
   }
 
@@ -191,7 +201,7 @@ public class MainActivity extends RosActivity {
     RelativeLayout.LayoutParams paramsMapView = new RelativeLayout.LayoutParams(600, 600);
     paramsMapView.addRule(RelativeLayout.CENTER_VERTICAL);
     paramsMapView.addRule(RelativeLayout.CENTER_HORIZONTAL);
-    mainLayout.addView(mapView, paramsMapView);
+    mainLayout.addView(navigationView, paramsMapView);
   }
 
   @Override
@@ -202,7 +212,7 @@ public class MainActivity extends RosActivity {
             InetAddressFactory.newNonLoopback().getHostAddress().toString(), getMasterUri());
     // Start the nodes.
     nodeRunner.run(distanceView, nodeConfiguration.setNodeName("android/distance_view"));
-    nodeRunner.run(mapView, nodeConfiguration.setNodeName("android/map_view"));
+    nodeRunner.run(navigationView, nodeConfiguration.setNodeName("android/map_view"));
     nodeRunner.run(virtualJoy, nodeConfiguration.setNodeName("virtual_joystick"));
     // nodeRunner.run(video,
     // nodeConfiguration.setNodeName("android/video_view"));