merge

android_gingerbread/AndroidManifest.xml

@@ -4,7 +4,7 @@
   android:versionCode="1"
   android:versionName="1.0"
   package="org.ros.android">
-  <uses-sdk android:minSdkVersion="9" />
+  <uses-sdk android:minSdkVersion="10" />
   <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
   <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
   <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />

android_gingerbread/src/org/ros/android/OrientationPublisher.java

@@ -98,4 +98,8 @@ public class OrientationPublisher implements NodeMain {
   @Override
   public void onShutdown(Node node) {
   }
+  
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }

android_gingerbread/src/org/ros/android/views/RosCameraPreviewView.java

@@ -55,6 +55,10 @@ public class RosCameraPreviewView extends CameraPreviewView implements NodeMain
 
   @Override
   public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node arg0) {
     releaseCamera();
   }
 }

android_gingerbread/src/org/ros/android/views/RosImageView.java

@@ -24,6 +24,7 @@ import org.ros.android.MessageCallable;
 import org.ros.message.MessageListener;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
 
 /**
  * A camera node that publishes images and camera_info
@@ -63,7 +64,8 @@ public class RosImageView<T> extends ImageView implements NodeMain {
 
   @Override
   public void onStart(Node node) {
-    node.newSubscriber(topicName, messageType, new MessageListener<T>() {
+    Subscriber<T> subscriber = node.newSubscriber(topicName, messageType);
+    subscriber.addMessageListener(new MessageListener<T>() {
       @Override
       public void onNewMessage(final T message) {
         post(new Runnable() {
@@ -80,4 +82,8 @@ public class RosImageView<T> extends ImageView implements NodeMain {
   @Override
   public void onShutdown(Node node) {
   }
+  
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }

android_gingerbread/src/org/ros/android/views/RosTextView.java

@@ -23,6 +23,7 @@ import org.ros.android.MessageCallable;
 import org.ros.message.MessageListener;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
 
 /**
  * @author damonkohler@google.com (Damon Kohler)
@@ -59,7 +60,8 @@ public class RosTextView<T> extends TextView implements NodeMain {
 
   @Override
   public void onStart(Node node) {
-    node.newSubscriber(topicName, messageType, new MessageListener<T>() {
+    Subscriber<T> subscriber = node.newSubscriber(topicName, messageType);
+    subscriber.addMessageListener(new MessageListener<T>() {
       @Override
       public void onNewMessage(final T message) {
         if (callable != null) {
@@ -85,4 +87,8 @@ public class RosTextView<T> extends TextView implements NodeMain {
   @Override
   public void onShutdown(Node node) {
   }
+  
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }

android_hokuyo/src/main/java/org/ros/android/hokuyo/LaserScanPublisher.java

@@ -59,9 +59,13 @@ public class LaserScanPublisher implements NodeMain {
       }
     });
   }
-
+  
   @Override
   public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node node) {
     laserScannerDevice.shutdown();
   }
 

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/Clock.java

@@ -28,7 +28,6 @@ class Clock {
 
   private final Device device;
 
-  private long timestamp;
   private long offset;
   private long previousOffset;
   private double deltaOffset;

android_hokuyo/src/test/java/org/ros/android/hokuyo/LaserScanSubscriber.java

@@ -22,6 +22,7 @@ import org.ros.message.MessageListener;
 import org.ros.message.sensor_msgs.LaserScan;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
 
 import java.util.concurrent.CountDownLatch;
 
@@ -38,19 +39,24 @@ public class LaserScanSubscriber implements NodeMain {
 
   @Override
   public void onStart(Node node) {
-    node.newSubscriber("laser", "sensor_msgs/LaserScan",
-        new MessageListener<org.ros.message.sensor_msgs.LaserScan>() {
-          @Override
-          public void onNewMessage(LaserScan message) {
-            assertEquals(3, message.ranges.length);
-            laserScanReceived.countDown();
-            // TODO(moesenle): Check that the fake laser data is equal to
-            // the received message.
-          }
-        });
+    Subscriber<org.ros.message.sensor_msgs.LaserScan> subscriber =
+        node.newSubscriber("laser", "sensor_msgs/LaserScan");
+    subscriber.addMessageListener(new MessageListener<org.ros.message.sensor_msgs.LaserScan>() {
+      @Override
+      public void onNewMessage(LaserScan message) {
+        assertEquals(3, message.ranges.length);
+        laserScanReceived.countDown();
+        // TODO(moesenle): Check that the fake laser data is equal to
+        // the received message.
+      }
+    });
   }
 
   @Override
   public void onShutdown(Node node) {
   }
+
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }

android_honeycomb_mr2/src/org/ros/android/views/DistanceView.java

@@ -27,6 +27,7 @@ import org.ros.message.geometry_msgs.Twist;
 import org.ros.message.sensor_msgs.LaserScan;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
+import org.ros.node.topic.Subscriber;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -93,10 +94,14 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
   @Override
   public void onStart(Node node) {
     // Subscribe to the laser scans.
-    node.newSubscriber(laserTopic, "sensor_msgs/LaserScan", this);
+    Subscriber<org.ros.message.sensor_msgs.LaserScan> laserScanSubscriber =
+        node.newSubscriber(laserTopic, "sensor_msgs/LaserScan");
+    laserScanSubscriber.addMessageListener(this);
     // Subscribe to the command velocity. This is needed for auto adjusting the
     // zoom in ZoomMode.VELOCITY_ZOOM_MODE mode.
-    node.newSubscriber("cmd_vel", "geometry_msgs/Twist", new MessageListener<Twist>() {
+    Subscriber<org.ros.message.geometry_msgs.Twist> twistSubscriber =
+        node.newSubscriber("cmd_vel", "geometry_msgs/Twist");
+    twistSubscriber.addMessageListener(new MessageListener<Twist>() {
       @Override
       public void onNewMessage(final Twist robotVelocity) {
         post(new Runnable() {
@@ -111,9 +116,13 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
     // Load the last saved setting.
     distanceRenderer.loadPreferences(this.getContext());
   }
-
+  
   @Override
   public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node node) {
     // Save the existing settings before exiting.
     distanceRenderer.savePreferences(this.getContext());
   }
@@ -202,8 +211,8 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
         }
         break;
       }
-        // When the second contact touches the screen initialize contactDistance
-        // for the immediate round of interaction.
+      // When the second contact touches the screen initialize contactDistance
+      // for the immediate round of interaction.
       case MotionEvent.ACTION_POINTER_1_DOWN: {
         contactDistance =
             calculateDistance(event.getX(0), event.getY(0), event.getX(1), event.getY(1));

android_honeycomb_mr2/src/org/ros/android/views/VirtualJoystickView.java

@@ -35,6 +35,7 @@ import org.ros.message.nav_msgs.Odometry;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
+import org.ros.node.topic.Subscriber;
 
 import java.util.Timer;
 import java.util.TimerTask;
@@ -236,8 +237,7 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     // All the virtual joystick elements must be centered on the parent.
     setGravity(Gravity.CENTER);
     // Instantiate the elements from the layout XML file.
-    LayoutInflater.from(context).inflate(org.ros.android.R.layout.virtual_joystick, this,
-        true);
+    LayoutInflater.from(context).inflate(org.ros.android.R.layout.virtual_joystick, this, true);
     initVirtualJoystick();
   }
 
@@ -513,8 +513,7 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
    * Sets up the visual elements of the virtual joystick.
    */
   private void initVirtualJoystick() {
-    mainLayout =
-        (RelativeLayout) findViewById(org.ros.android.R.id.virtual_joystick_layout);
+    mainLayout = (RelativeLayout) findViewById(org.ros.android.R.id.virtual_joystick_layout);
     magnitudeText = (TextView) findViewById(org.ros.android.R.id.magnitude);
     intensity = (ImageView) findViewById(org.ros.android.R.id.intensity);
     thumbDivet = (ImageView) findViewById(org.ros.android.R.id.thumb_divet);
@@ -526,40 +525,23 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     orientationWidget[4] = (ImageView) findViewById(org.ros.android.R.id.widget_60_degrees);
     orientationWidget[5] = (ImageView) findViewById(org.ros.android.R.id.widget_75_degrees);
     orientationWidget[6] = (ImageView) findViewById(org.ros.android.R.id.widget_90_degrees);
-    orientationWidget[7] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_105_degrees);
-    orientationWidget[8] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_120_degrees);
-    orientationWidget[9] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_135_degrees);
-    orientationWidget[10] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_150_degrees);
-    orientationWidget[11] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_165_degrees);
-    orientationWidget[12] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_180_degrees);
-    orientationWidget[13] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_195_degrees);
-    orientationWidget[14] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_210_degrees);
-    orientationWidget[15] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_225_degrees);
-    orientationWidget[16] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_240_degrees);
-    orientationWidget[17] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_255_degrees);
-    orientationWidget[18] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_270_degrees);
-    orientationWidget[19] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_285_degrees);
-    orientationWidget[20] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_300_degrees);
-    orientationWidget[21] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_315_degrees);
-    orientationWidget[22] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_330_degrees);
-    orientationWidget[23] =
-        (ImageView) findViewById(org.ros.android.R.id.widget_345_degrees);
+    orientationWidget[7] = (ImageView) findViewById(org.ros.android.R.id.widget_105_degrees);
+    orientationWidget[8] = (ImageView) findViewById(org.ros.android.R.id.widget_120_degrees);
+    orientationWidget[9] = (ImageView) findViewById(org.ros.android.R.id.widget_135_degrees);
+    orientationWidget[10] = (ImageView) findViewById(org.ros.android.R.id.widget_150_degrees);
+    orientationWidget[11] = (ImageView) findViewById(org.ros.android.R.id.widget_165_degrees);
+    orientationWidget[12] = (ImageView) findViewById(org.ros.android.R.id.widget_180_degrees);
+    orientationWidget[13] = (ImageView) findViewById(org.ros.android.R.id.widget_195_degrees);
+    orientationWidget[14] = (ImageView) findViewById(org.ros.android.R.id.widget_210_degrees);
+    orientationWidget[15] = (ImageView) findViewById(org.ros.android.R.id.widget_225_degrees);
+    orientationWidget[16] = (ImageView) findViewById(org.ros.android.R.id.widget_240_degrees);
+    orientationWidget[17] = (ImageView) findViewById(org.ros.android.R.id.widget_255_degrees);
+    orientationWidget[18] = (ImageView) findViewById(org.ros.android.R.id.widget_270_degrees);
+    orientationWidget[19] = (ImageView) findViewById(org.ros.android.R.id.widget_285_degrees);
+    orientationWidget[20] = (ImageView) findViewById(org.ros.android.R.id.widget_300_degrees);
+    orientationWidget[21] = (ImageView) findViewById(org.ros.android.R.id.widget_315_degrees);
+    orientationWidget[22] = (ImageView) findViewById(org.ros.android.R.id.widget_330_degrees);
+    orientationWidget[23] = (ImageView) findViewById(org.ros.android.R.id.widget_345_degrees);
     // Initially hide all the widgets.
     for (ImageView tack : orientationWidget) {
       tack.setAlpha(0.0f);
@@ -580,8 +562,7 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     // Hide the slices/arcs used during the turn-in-place mode.
     currentRotationRange.setAlpha(0.0f);
     previousRotationRange.setAlpha(0.0f);
-    lastVelocityDivet =
-        (ImageView) findViewById(org.ros.android.R.id.previous_velocity_divet);
+    lastVelocityDivet = (ImageView) findViewById(org.ros.android.R.id.previous_velocity_divet);
     contactUpLocation = new Point(0, 0);
     for (ImageView tack : orientationWidget) {
       tack.setVisibility(INVISIBLE);
@@ -905,7 +886,9 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
   public void onStart(Node node) {
     publisher = node.newPublisher("~cmd_vel", "geometry_msgs/Twist");
     publisher.setQueueLimit(1);
-    node.newSubscriber("odom", "nav_msgs/Odometry", this);
+    Subscriber<org.ros.message.nav_msgs.Odometry> subscriber =
+        node.newSubscriber("odom", "nav_msgs/Odometry");
+    subscriber.addMessageListener(this);
     publisherTimer = new Timer();
     publisherTimer.schedule(new TimerTask() {
       @Override
@@ -919,8 +902,11 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
 
   @Override
   public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node node) {
     publisherTimer.cancel();
     publisherTimer.purge();
   }
-
 }

android_honeycomb_mr2/src/org/ros/android/views/visualization/Camera.java

@@ -1,3 +1,19 @@
+/*
+ * 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.visualization;
 
 import org.ros.rosjava_geometry.Quaternion;
@@ -6,6 +22,9 @@ import org.ros.rosjava_geometry.Vector3;
 
 import javax.microedition.khronos.opengles.GL10;
 
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ */
 public class Camera {
   /**
    * The default reference frame.

android_honeycomb_mr2/src/org/ros/android/views/visualization/CameraControlLayer.java

@@ -25,7 +25,6 @@ import org.ros.node.Node;
 
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
 public class CameraControlLayer extends DefaultVisualizationLayer {
 

android_honeycomb_mr2/src/org/ros/android/views/visualization/CompressedBitmapLayer.java

@@ -30,8 +30,7 @@ import java.nio.IntBuffer;
 import javax.microedition.khronos.opengles.GL10;
 
 /**
- * @author moesenle
- *
+ * @author moesenle@google.com (Lorenz Moesenlechner)
  */
 public class CompressedBitmapLayer extends DefaultVisualizationLayer implements TfLayer {
 
@@ -62,30 +61,29 @@ public class CompressedBitmapLayer extends DefaultVisualizationLayer implements
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
     compressedOccupancyGridSubscriber =
-        node.newSubscriber(
-            topic,
-            "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);
-                frame = compressedBitmap.header.frame_id;
-                initialized = true;
-                requestRender();
-              }
-            });
+        node.newSubscriber(topic, "compressed_visualization_transport_msgs/CompressedBitmap");
+    compressedOccupancyGridSubscriber
+        .addMessageListener(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);
+            frame = compressedBitmap.header.frame_id;
+            initialized = true;
+            requestRender();
+          }
+        });
   }
 
   @Override

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

@@ -26,8 +26,7 @@ import org.ros.node.topic.Subscriber;
 import javax.microedition.khronos.opengles.GL10;
 
 /**
- * @author moesenle
- *
+ * @author moesenle@google.com (Lorenz Moesenlechner)
  */
 public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfLayer {
   /**
@@ -86,23 +85,23 @@ public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfL
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    occupancyGridSubscriber =
-        node.newSubscriber(topic, "nav_msgs/OccupancyGrid",
-            new MessageListener<org.ros.message.nav_msgs.OccupancyGrid>() {
-              @Override
-              public void onNewMessage(org.ros.message.nav_msgs.OccupancyGrid occupancyGridMessage) {
-                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);
-                frame = occupancyGridMessage.header.frame_id;
-                initialized = true;
-                requestRender();
-              }
-            });
+    occupancyGridSubscriber = node.newSubscriber(topic, "nav_msgs/OccupancyGrid");
+    occupancyGridSubscriber
+        .addMessageListener(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);
+            frame = occupancyGridMessage.header.frame_id;
+            initialized = true;
+            requestRender();
+          }
+        });
   }
 
   @Override

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

@@ -32,7 +32,6 @@ import javax.microedition.khronos.opengles.GL10;
 
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
 public class PathLayer extends DefaultVisualizationLayer {
 
@@ -65,7 +64,8 @@ public class PathLayer extends DefaultVisualizationLayer {
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    pathSubscriber = node.newSubscriber(topic, "nav_msgs/Path", new MessageListener<Path>() {
+    pathSubscriber = node.newSubscriber(topic, "nav_msgs/Path");
+    pathSubscriber.addMessageListener(new MessageListener<Path>() {
       @Override
       public void onNewMessage(Path path) {
         pathVertexBuffer = makePathVertices(path);

android_honeycomb_mr2/src/org/ros/android/views/visualization/PoseSubscriberLayer.java

@@ -29,23 +29,21 @@ import javax.microedition.khronos.opengles.GL10;
 
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
 public class PoseSubscriberLayer extends DefaultVisualizationLayer implements TfLayer {
 
-  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 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 final GraphName topic;
@@ -79,17 +77,17 @@ public class PoseSubscriberLayer extends DefaultVisualizationLayer implements Tf
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    poseSubscriber =
-        node.newSubscriber(topic, "geometry_msgs/PoseStamped",
-            new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
-              @Override
-              public void onNewMessage(PoseStamped pose) {
-                goalShape.setPose(Transform.makeFromPoseMessage(pose.pose));
-                poseFrame = pose.header.frame_id;
-                visible = true;
-                requestRender();
-              }
-            });
+    poseSubscriber = node.newSubscriber(topic, "geometry_msgs/PoseStamped");
+    poseSubscriber
+        .addMessageListener(new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
+          @Override
+          public void onNewMessage(PoseStamped pose) {
+            goalShape.setPose(Transform.makeFromPoseMessage(pose.pose));
+            poseFrame = pose.header.frame_id;
+            visible = true;
+            requestRender();
+          }
+        });
   }
 
   @Override

android_honeycomb_mr2/src/org/ros/android/views/visualization/TransformListener.java

@@ -1,3 +1,19 @@
+/*
+ * 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.visualization;
 
 import org.ros.message.MessageListener;
@@ -7,6 +23,9 @@ import org.ros.node.Node;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Subscriber;
 
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ */
 public class TransformListener implements NodeMain {
 
   private Transformer transformer = new Transformer();
@@ -23,7 +42,8 @@ public class TransformListener implements NodeMain {
   @Override
   public void onStart(Node node) {
     transformer.setPrefix(node.newParameterTree().getString("~tf_prefix", ""));
-    tfSubscriber = node.newSubscriber("tf", "tf/tfMessage", new MessageListener<tfMessage>() {
+    tfSubscriber = node.newSubscriber("tf", "tf/tfMessage");
+    tfSubscriber.addMessageListener(new MessageListener<tfMessage>() {
       @Override
       public void onNewMessage(tfMessage message) {
         for (TransformStamped transform : message.transforms) {
@@ -37,5 +57,8 @@ public class TransformListener implements NodeMain {
   public void onShutdown(Node node) {
     tfSubscriber.shutdown();
   }
-
+  
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }

android_honeycomb_mr2/src/org/ros/android/views/visualization/VisualizationView.java

@@ -56,6 +56,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     setRenderer(renderer);
   }
 
+  @Override
   public boolean onTouchEvent(MotionEvent event) {
     for (VisualizationLayer layer : Iterables.reverse(layers)) {
       if (layer.onTouchEvent(this, event)) {
@@ -109,4 +110,8 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     transformListener.onShutdown(node);
     this.node = null;
   }
+  
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
 }