maxsieber · Sep 8, 2013 · Sep 8, 2013 · Sep 8, 2013 · Sep 9, 2013 · Sep 9, 2013
diff --git a/nxt_python/Makefile b/nxt_python/Makefile
@@ -1,7 +1,7 @@
 all: nxt-python
 
 TARBALL     = build/nxt-python-1.1.2.zip
-TARBALL_URL = http://nxt-python.googlecode.com/files/nxt-python-1.1.2.zip
+TARBALL_URL = http://spot.fedorapeople.org/nxt-python-1.1.2-fixed.zip
 UNPACK_CMD  = unzip
 SOURCE_DIR  = build/nxt-python-1.1.2
 include $(shell rospack find mk)/download_unpack_build.mk
@@ -15,8 +15,8 @@ $(INSTALL_DIR)/installed: $(SOURCE_DIR)/unpacked
 	rm -rf src
 	cd $(SOURCE_DIR) && python setup.py install --prefix=$(INSTALL_DIR) --install-purelib=$(INSTALL_DIR)/src
 	#patch -p0<ultrasonic.patch 
-	patch -p0 src/nxt/sensor.py gyro.patch 
-	patch -p0 src/nxt/sensor.py colorsensor.patch 
+	#patch -p0 src/nxt/sensor.py gyro.patch 
+	#patch -p0 src/nxt/sensor.py colorsensor.patch 
 	touch $(INSTALL_DIR)/installed
 
 clean:

diff --git a/nxt_rviz_plugin/CMakeLists.txt b/nxt_rviz_plugin/CMakeLists.txt
@@ -21,6 +21,8 @@ set(SOURCE_FILES src/nxt_ultrasonic_display.cpp
                  src/nxt_color_display.cpp 
                  src/init.cpp)
 
+set(CMAKE_CXX_FLAGS "-DQT_NO_KEYWORDS")
+
 
 include(CMakeDetermineSystem)
 if(CMAKE_SYSTEM_NAME MATCHES "Darwin")
@@ -33,11 +35,14 @@ find_package(wxWidgets REQUIRED)
 include(${wxWidgets_USE_FILE})
 include_directories( ${wxWidgets_INCLUDE_DIRS} )
 
+find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+include(${QT_USE_FILE})
+
 pkg_check_modules(OGRE OGRE)
 include_directories( ${OGRE_INCLUDE_DIRS} )
 link_directories( ${OGRE_LIBRARY_DIRS} )
 
-target_link_libraries(${PROJECT_NAME} ${wxWidgets_LIBRARIES} ${OGRE_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${wxWidgets_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES})
 rosbuild_link_boost(${PROJECT_NAME} thread)
 
 #uncomment if you have defined messages

diff --git a/nxt_rviz_plugin/src/init.cpp b/nxt_rviz_plugin/src/init.cpp
@@ -1,14 +1,8 @@
-#include "rviz/plugin/type_registry.h"
+#include <pluginlib/class_list_macros.h>
 
 #include "nxt_ultrasonic_display.h"
 #include "nxt_color_display.h"
 
-using namespace nxt_rviz_plugin;
-
-extern "C" void rvizPluginInit(rviz::TypeRegistry* reg)
-{
-  reg->registerDisplay<NXTUltrasonicDisplay>("nxt_rviz_plugin::NXTUltrasonicDisplay");
-  reg->registerDisplay<NXTColorDisplay>("nxt_rviz_plugin::NXTColorDisplay");
-
-}
+PLUGINLIB_DECLARE_CLASS( rviz_qt, NXTUltrasonicDisplay, nxt_rviz_plugin::NXTUltrasonicDisplay, rviz::Display )
+PLUGINLIB_DECLARE_CLASS( rviz_qt, NXTColorDisplay, nxt_rviz_plugin::NXTColorDisplay, rviz::Display )
 
diff --git a/nxt_rviz_plugin/src/nxt_color_display.cpp b/nxt_rviz_plugin/src/nxt_color_display.cpp
@@ -1,91 +1,76 @@
 #include "nxt_color_display.h"
 #include "rviz/visualization_manager.h"
-#include "rviz/properties/property.h"
-#include "rviz/properties/property_manager.h"
-#include "rviz/common.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/properties/ros_topic_property.h"
+//#include "rviz/properties/property_manager.h"
+//#include "rviz/common.h"
 #include "rviz/frame_manager.h"
 #include "rviz/validate_floats.h"
 
 #include <tf/transform_listener.h>
 
-#include <ogre_tools/shape.h>
+#include <rviz/ogre_helpers/shape.h>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 
 namespace nxt_rviz_plugin
 {
-NXTColorDisplay::NXTColorDisplay( const std::string& name, rviz::VisualizationManager* manager )
-  : Display( name, manager )
+NXTColorDisplay::NXTColorDisplay()
+  : Display()
   , messages_received_(0)
-  , tf_filter_(*manager->getTFClient(), "", 10, update_nh_)
 {
-  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
-
-  cylinder_ = new ogre_tools::Shape(ogre_tools::Shape::Cylinder, vis_manager_->getSceneManager(), scene_node_);
-
-  scene_node_->setVisible( false );
-
-  setAlpha( 0.5f );
-  setDisplayLength( 0.003f );
-
-  Ogre::Vector3 scale( 0, 0, 0);
-  rviz::scaleRobotToOgre( scale );
-  cylinder_->setScale(scale);
-
-  tf_filter_.connectInput(sub_);
-  tf_filter_.registerCallback(boost::bind(&NXTColorDisplay::incomingMessage, this, _1));
-  vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
+  display_property_ = new rviz::FloatProperty( "Display Length", 0.003f,
+                                       "Display length.",
+                                       this, SLOT( updateDisplayLength() ));
+  alpha_property_ = new rviz::FloatProperty( "Alpha", 0.5f,
+                                       "Amount of transparency to apply to the circle.",
+                                       this, SLOT( updateAlpha() ));
+  topic_property_ = new rviz::RosTopicProperty( "Topic", "",
+                                       QString::fromStdString( ros::message_traits::datatype<nxt_msgs::Color>() ),
+                                       "nxt_msgs::Color topic to subscribe to.",
+                                       this, SLOT (updateTopic() ));
 }
 
 NXTColorDisplay::~NXTColorDisplay()
 {
   unsubscribe();
   clear();
   delete cylinder_;
+  delete tf_filter_;
 }
 
-void NXTColorDisplay::clear()
-{
-
-  messages_received_ = 0;
-  setStatus(rviz::status_levels::Warn, "Topic", "No messages received");
-}
-
-void NXTColorDisplay::setTopic( const std::string& topic )
+void NXTColorDisplay::onInitialize()
 {
-  unsubscribe();
-
-  topic_ = topic;
+  float alpha_ = alpha_property_->getFloat();
+  float displayLength_ = display_property_->getFloat();
 
-  subscribe();
+  tf_filter_ = new tf::MessageFilter<nxt_msgs::Color>(*context_->getTFClient(), "", 10, update_nh_);
+  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
 
-  propertyChanged(topic_property_);
+  cylinder_ = new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), scene_node_);
 
-  causeRender();
-}
+  scene_node_->setVisible( false );
 
-void NXTColorDisplay::setAlpha( float alpha )
-{
-  alpha_ = alpha;
+  // setAlpha( 0.5f );
+  // setDisplayLength( 0.003f );
 
-  propertyChanged(alpha_property_);
+  Ogre::Vector3 scale( 0, 0, 0);
+  // rviz::scaleRobotToOgre( scale );
+  cylinder_->setScale(scale);
 
-  processMessage(current_message_);
-  causeRender();
+  tf_filter_->connectInput(sub_);
+  tf_filter_->registerCallback(boost::bind(&NXTColorDisplay::incomingMessage, this, _1));
+  context_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
 }
 
-void NXTColorDisplay::setDisplayLength( float displayLength )
+void NXTColorDisplay::clear()
 {
-  displayLength_ = displayLength;
 
-  propertyChanged(display_property_);
-
-  processMessage(current_message_);
-  causeRender();
+  messages_received_ = 0;
+  setStatus( rviz::StatusProperty::Warn, "Topic", "No messages received" );
 }
 
-
 void NXTColorDisplay::subscribe()
 {
   if ( !isEnabled() )
@@ -118,7 +103,7 @@ void NXTColorDisplay::fixedFrameChanged()
 {
   clear();
 
-  tf_filter_.setTargetFrame( fixed_frame_ );
+  tf_filter_->setTargetFrame( fixed_frame_.toStdString() );
 }
 
 void NXTColorDisplay::update(float wall_dt, float ros_dt)
@@ -135,11 +120,7 @@ void NXTColorDisplay::processMessage(const nxt_msgs::Color::ConstPtr& msg)
 
   ++messages_received_;
 
-  {
-    std::stringstream ss;
-    ss << messages_received_ << " messages received";
-    setStatus(rviz::status_levels::Ok, "Topic", ss.str());
-  }
+  setStatus( rviz::StatusProperty::Ok, "Topic", QString::number( messages_received_ ) + " messages received" );
 
   Ogre::Vector3 position;
   Ogre::Quaternion orientation;
@@ -149,15 +130,16 @@ void NXTColorDisplay::processMessage(const nxt_msgs::Color::ConstPtr& msg)
   pose.position.x = 0.0185 + displayLength_/2;
   pose.orientation.x = 0.707;
   pose.orientation.z = -0.707;
-  if (!vis_manager_->getFrameManager()->transform(msg->header.frame_id,msg->header.stamp,pose, position, orientation, true))
+  if (!context_->getFrameManager()->transform(msg->header, pose, position, orientation))
   {
-    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), fixed_frame_.c_str() );
+    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
+               msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
   }
 
   cylinder_->setPosition(position);
   cylinder_->setOrientation(orientation);
   Ogre::Vector3 scale( 0.0155, 0.0155, displayLength_);
-  rviz::scaleRobotToOgre( scale );
+  // rviz::scaleRobotToOgre( scale );
   cylinder_->setScale(scale);
   cylinder_->setColor(msg->r, msg->g, msg->b, alpha_);
 
@@ -174,26 +156,22 @@ void NXTColorDisplay::reset()
   clear();
 }
 
-void NXTColorDisplay::createProperties()
+void NXTColorDisplay::updateAlpha()
 {
-  topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &NXTColorDisplay::getTopic, this ),
-                                                                                     boost::bind( &NXTColorDisplay::setTopic, this, _1 ), parent_category_, this );
-  setPropertyHelpText(topic_property_, "nxt_msgs::Color topic to subscribe to.");
-  rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
-  topic_prop->setMessageType(ros::message_traits::datatype<nxt_msgs::Color>());
-
-
-  alpha_property_ = property_manager_->createProperty<rviz::FloatProperty>( "Alpha", property_prefix_, boost::bind( &NXTColorDisplay::getAlpha, this ),
-                                                                            boost::bind( &NXTColorDisplay::setAlpha, this, _1 ), parent_category_, this );
-
-  display_property_ = property_manager_->createProperty<rviz::FloatProperty>( "Display Length", property_prefix_, boost::bind( &NXTColorDisplay::getDisplayLength, this ),
-                                                                            boost::bind( &NXTColorDisplay::setDisplayLength, this, _1 ), parent_category_, this );
+}
 
-  setPropertyHelpText(alpha_property_, "Amount of transparency to apply to the circle.");
+void NXTColorDisplay::updateDisplayLength()
+{
 }
 
-const char* NXTColorDisplay::getDescription()
+void NXTColorDisplay::updateTopic()
 {
-  return "Displays data from a nxt_msgs::Color message as a cirle of color.";
+  unsubscribe();
+  subscribe();
 }
+
 } // namespace nxt_rviz_plugin    
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS( nxt_rviz_plugin::NXTColorDisplay, rviz::Display )
+
diff --git a/nxt_rviz_plugin/src/nxt_color_display.h b/nxt_rviz_plugin/src/nxt_color_display.h
@@ -3,16 +3,18 @@
 
 #include "rviz/display.h"
 #include "rviz/helpers/color.h"
-#include "rviz/properties/forwards.h"
+//#include "rviz/properties/forwards.h"
+#include <rviz/properties/float_property.h>
+#include <rviz/properties/ros_topic_property.h>
 
 #include <nxt_msgs/Color.h>
 
+#include <boost/shared_ptr.hpp>
+
 #include <message_filters/subscriber.h>
 #include <tf/message_filter.h>
 
-#include <boost/shared_ptr.hpp>
-
-namespace ogre_tools
+namespace rviz
 {
 class Shape;
 }
@@ -33,28 +35,24 @@ namespace nxt_rviz_plugin
 class NXTColorDisplay : public rviz::Display
 {
 public:
-  NXTColorDisplay( const std::string& name, rviz::VisualizationManager* manager );
+  NXTColorDisplay();
   virtual ~NXTColorDisplay();
 
-  void setTopic( const std::string& topic );
-  const std::string& getTopic() { return topic_; }
-
-  void setAlpha( float alpha );
-  float getAlpha() { return alpha_; }
-
-  void setDisplayLength( float displayLength );
-  float getDisplayLength() { return displayLength_; }
+  virtual void onInitialize();
 
   // Overrides from Display
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
-  virtual void createProperties();
   virtual void update(float wall_dt, float ros_dt);
   virtual void reset();
 
   static const char* getTypeStatic() { return "Color"; }
   virtual const char* getType() const { return getTypeStatic(); }
-  static const char* getDescription();
+
+private Q_SLOTS:
+  void updateAlpha();
+  void updateDisplayLength();
+  void updateTopic();
 
 protected:
   void subscribe();
@@ -74,15 +72,15 @@ class NXTColorDisplay : public rviz::Display
   uint32_t messages_received_;
 
   Ogre::SceneNode* scene_node_;
-  ogre_tools::Shape* cylinder_;      ///< Handles actually drawing the cone
+  rviz::Shape* cylinder_;      ///< Handles actually drawing the cone
 
   message_filters::Subscriber<nxt_msgs::Color> sub_;
-  tf::MessageFilter<nxt_msgs::Color> tf_filter_;
+  tf::MessageFilter<nxt_msgs::Color>* tf_filter_;
   nxt_msgs::Color::ConstPtr current_message_;
 
-  rviz::ROSTopicStringPropertyWPtr topic_property_;
-  rviz::FloatPropertyWPtr alpha_property_;
-  rviz::FloatPropertyWPtr display_property_;
+  rviz::FloatProperty* alpha_property_;
+  rviz::FloatProperty* display_property_;
+  rviz::RosTopicProperty* topic_property_;
 };
 
 } // namespace nxt_rviz_plugin

diff --git a/nxt_rviz_plugin/src/nxt_ultrasonic_display.cpp b/nxt_rviz_plugin/src/nxt_ultrasonic_display.cpp
@@ -1,88 +1,75 @@
 #include "nxt_ultrasonic_display.h"
 #include "rviz/visualization_manager.h"
-#include "rviz/properties/property.h"
-#include "rviz/properties/property_manager.h"
-#include "rviz/common.h"
+#include "rviz/properties/color_property.h"
+#include "rviz/properties/float_property.h"
+#include "rviz/properties/parse_color.h"
+#include "rviz/properties/ros_topic_property.h"
+//#include "rviz/properties/property_manager.h"
+//#include "rviz/common.h"
 #include "rviz/frame_manager.h"
 #include "rviz/validate_floats.h"
 
 #include <tf/transform_listener.h>
 
-#include <ogre_tools/shape.h>
+#include <rviz/ogre_helpers/shape.h>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 
 namespace nxt_rviz_plugin
 {
-NXTUltrasonicDisplay::NXTUltrasonicDisplay( const std::string& name, rviz::VisualizationManager* manager )
-: Display( name, manager )
-, color_( 0.1f, 1.0f, 0.0f )
-, messages_received_(0)
-, tf_filter_(*manager->getTFClient(), "", 10, update_nh_)
+NXTUltrasonicDisplay::NXTUltrasonicDisplay()
+  : Display()
+  , messages_received_(0)
 {
-  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
-
-  cone_ = new ogre_tools::Shape(ogre_tools::Shape::Cone, vis_manager_->getSceneManager(), scene_node_);
-
-  scene_node_->setVisible( false );
-
-  setAlpha( 0.5f );
-  Ogre::Vector3 scale( 0, 0, 0);
-  rviz::scaleRobotToOgre( scale );
-  cone_->setScale(scale);
-  cone_->setColor(color_.r_, color_.g_, color_.b_, alpha_);
-
-  tf_filter_.connectInput(sub_);
-  tf_filter_.registerCallback(boost::bind(&NXTUltrasonicDisplay::incomingMessage, this, _1));
-  vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
+  color_property_ = new rviz::ColorProperty( "Color", Qt::gray, 
+                                       "Color to draw the range.",
+                                       this, SLOT( updateColor() ));
+  alpha_property_ = new rviz::FloatProperty( "Alpha", 0.5f,
+                                       "Amount of transparency to apply to the range.",
+                                       this, SLOT( updateColor() ));
+  topic_property_ = new rviz::RosTopicProperty( "Topic", "",
+                                          QString::fromStdString( ros::message_traits::datatype<nxt_msgs::Range>() ),
+                                          "nxt_msgs::Range topic to subscribe to.",
+                                          this, SLOT (updateTopic() ));
 }
 
 NXTUltrasonicDisplay::~NXTUltrasonicDisplay()
 {
   unsubscribe();
   clear();
   delete cone_;
+  delete tf_filter_;
 }
 
-void NXTUltrasonicDisplay::clear()
+void NXTUltrasonicDisplay::onInitialize()
 {
+  Ogre::ColourValue color = color_property_->getOgreColor();
+  float alpha = alpha_property_->getFloat();
 
-  messages_received_ = 0;
-  setStatus(rviz::status_levels::Warn, "Topic", "No messages received");
-}
-
-void NXTUltrasonicDisplay::setTopic( const std::string& topic )
-{
-  unsubscribe();
-
-  topic_ = topic;
-
-  subscribe();
-
-  propertyChanged(topic_property_);
+  tf_filter_ = new tf::MessageFilter<nxt_msgs::Range>(*context_->getTFClient(), "", 10, update_nh_);
+  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
 
-  causeRender();
-}
+  cone_ = new rviz::Shape(rviz::Shape::Cone, context_->getSceneManager(), scene_node_);
 
-void NXTUltrasonicDisplay::setColor( const rviz::Color& color )
-{
-  color_ = color;
+  scene_node_->setVisible( false );
 
-  propertyChanged(color_property_);
+  // setAlpha( 0.5f );
+  Ogre::Vector3 scale( 0, 0, 0);
+  // rviz::scaleRobotToOgre( scale );
+  cone_->setScale(scale);
+  cone_->setColor(color.r, color.g, color.b, alpha);
 
-  processMessage(current_message_);
-  causeRender();
+  tf_filter_->connectInput(sub_);
+  tf_filter_->registerCallback(boost::bind(&NXTUltrasonicDisplay::incomingMessage, this, _1));
+  context_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
 }
 
-void NXTUltrasonicDisplay::setAlpha( float alpha )
+void NXTUltrasonicDisplay::clear()
 {
-  alpha_ = alpha;
-
-  propertyChanged(alpha_property_);
 
-  processMessage(current_message_);
-  causeRender();
+  messages_received_ = 0;
+  setStatus( rviz::StatusProperty::Warn, "Topic", "No messages received" );
 }
 
 void NXTUltrasonicDisplay::subscribe()
@@ -117,7 +104,7 @@ void NXTUltrasonicDisplay::fixedFrameChanged()
 {
   clear();
 
-  tf_filter_.setTargetFrame( fixed_frame_ );
+  tf_filter_->setTargetFrame( fixed_frame_.toStdString() );
 }
 
 void NXTUltrasonicDisplay::update(float wall_dt, float ros_dt)
@@ -134,11 +121,7 @@ void NXTUltrasonicDisplay::processMessage(const nxt_msgs::Range::ConstPtr& msg)
 
   ++messages_received_;
 
-  {
-    std::stringstream ss;
-    ss << messages_received_ << " messages received";
-    setStatus(rviz::status_levels::Ok, "Topic", ss.str());
-  }
+  setStatus( rviz::StatusProperty::Ok, "Topic", QString::number( messages_received_ ) + " messages received" );
 
   Ogre::Vector3 position;
   Ogre::Quaternion orientation;
@@ -147,15 +130,16 @@ void NXTUltrasonicDisplay::processMessage(const nxt_msgs::Range::ConstPtr& msg)
   pose.position.x = msg->range/2;
   pose.orientation.x = 0.707;
   pose.orientation.z = -0.707;
-  if (!vis_manager_->getFrameManager()->transform(msg->header.frame_id,msg->header.stamp,pose, position, orientation, true))
+  if (!context_->getFrameManager()->transform(msg->header, pose, position, orientation))
   {
-    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), fixed_frame_.c_str() );
+    ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'",
+               msg->header.frame_id.c_str(), qPrintable( fixed_frame_ ));
   }
 
   cone_->setPosition(position);
   cone_->setOrientation(orientation); 
   Ogre::Vector3 scale( sin(msg->spread_angle) * msg->range, sin(msg->spread_angle) * msg->range , msg->range);
-  rviz::scaleRobotToOgre( scale );
+  // rviz::scaleRobotToOgre( scale );
   cone_->setScale(scale);
   cone_->setColor(color_.r_, color_.g_, color_.b_, alpha_);
 
@@ -172,23 +156,21 @@ void NXTUltrasonicDisplay::reset()
   clear();
 }
 
-void NXTUltrasonicDisplay::createProperties()
-{
-  topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getTopic, this ),
-                                                                                boost::bind( &NXTUltrasonicDisplay::setTopic, this, _1 ), parent_category_, this );
-  setPropertyHelpText(topic_property_, "nxt_msgs::Range topic to subscribe to.");
-  rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
-  topic_prop->setMessageType(ros::message_traits::datatype<nxt_msgs::Range>());
-  color_property_ = property_manager_->createProperty<rviz::ColorProperty>( "Color", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getColor, this ),
-                                                                      boost::bind( &NXTUltrasonicDisplay::setColor, this, _1 ), parent_category_, this );
-  setPropertyHelpText(color_property_, "Color to draw the range.");
-  alpha_property_ = property_manager_->createProperty<rviz::FloatProperty>( "Alpha", property_prefix_, boost::bind( &NXTUltrasonicDisplay::getAlpha, this ),
-                                                                       boost::bind( &NXTUltrasonicDisplay::setAlpha, this, _1 ), parent_category_, this );
-  setPropertyHelpText(alpha_property_, "Amount of transparency to apply to the range.");
+void NXTUltrasonicDisplay::updateColor()
+{
+  QColor color = color_property_->getColor();
+  color.setAlphaF( alpha_property_->getFloat() );
+  cone_->setColor( rviz::qtToOgre( color ));
+  context_->queueRender();
 }
 
-const char* NXTUltrasonicDisplay::getDescription()
+void NXTUltrasonicDisplay::updateTopic()
 {
-  return "Displays data from a nxt_msgs::Range message as a cone.";
+  unsubscribe();
+  subscribe();
 }
+
 } // namespace nxt_rviz_plugin
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS( nxt_rviz_plugin::NXTUltrasonicDisplay, rviz::Display )
diff --git a/nxt_rviz_plugin/src/nxt_ultrasonic_display.h b/nxt_rviz_plugin/src/nxt_ultrasonic_display.h
@@ -33,16 +33,20 @@
 
 #include "rviz/display.h"
 #include "rviz/helpers/color.h"
-#include "rviz/properties/forwards.h"
+// #include "rviz/properties/forwards.h"
+#include <rviz/properties/property.h>
+#include <rviz/properties/color_property.h> 
+#include <rviz/properties/float_property.h>
+#include <rviz/properties/ros_topic_property.h>
 
 #include <nxt_msgs/Range.h>
 
+#include <boost/shared_ptr.hpp>
+
 #include <message_filters/subscriber.h>
 #include <tf/message_filter.h>
 
-#include <boost/shared_ptr.hpp>
-
-namespace ogre_tools
+namespace rviz
 {
 class Shape;
 }
@@ -63,28 +67,23 @@ namespace nxt_rviz_plugin
 class NXTUltrasonicDisplay : public rviz::Display
 {
 public:
-  NXTUltrasonicDisplay( const std::string& name, rviz::VisualizationManager* manager );
+  NXTUltrasonicDisplay();
   virtual ~NXTUltrasonicDisplay();
 
-  void setTopic( const std::string& topic );
-  const std::string& getTopic() { return topic_; }
-
-  void setColor( const rviz::Color& color );
-  const rviz::Color& getColor() { return color_; }
-
-  void setAlpha( float alpha );
-  float getAlpha() { return alpha_; }
+  virtual void onInitialize();
 
   // Overrides from Display
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
-  virtual void createProperties();
   virtual void update(float wall_dt, float ros_dt);
   virtual void reset();
 
   static const char* getTypeStatic() { return "Range"; }
   virtual const char* getType() const { return getTypeStatic(); }
-  static const char* getDescription();
+
+private Q_SLOTS:
+  void updateColor();
+  void updateTopic();
 
 protected:
   void subscribe();
@@ -104,15 +103,15 @@ class NXTUltrasonicDisplay : public rviz::Display
   uint32_t messages_received_;
 
   Ogre::SceneNode* scene_node_;
-  ogre_tools::Shape* cone_;      ///< Handles actually drawing the cone
+  rviz::Shape* cone_;      ///< Handles actually drawing the cone
 
   message_filters::Subscriber<nxt_msgs::Range> sub_;
-  tf::MessageFilter<nxt_msgs::Range> tf_filter_;
+  tf::MessageFilter<nxt_msgs::Range>* tf_filter_;
   nxt_msgs::Range::ConstPtr current_message_;
 
-  rviz::ColorPropertyWPtr color_property_;
-  rviz::ROSTopicStringPropertyWPtr topic_property_;
-  rviz::FloatPropertyWPtr alpha_property_;
+  rviz::ColorProperty* color_property_;
+  rviz::RosTopicProperty* topic_property_;
+  rviz::FloatProperty* alpha_property_;
 };
 
 } // namespace nxt_rviz_plugin