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https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
fix display of attached objects
similar as in https://github.com/ros-planning/moveit/pull/1202
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@ -137,10 +137,11 @@ Q_SIGNALS:
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void activeStageChanged(size_t);
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protected:
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void setVisibility(); // set visibility of main scene node
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void setVisibility(); ///< set visibility of main scene node
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void setVisibility(Ogre::SceneNode* node, Ogre::SceneNode* parent, bool visible);
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float getStateDisplayTime();
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void clearTrail();
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void renderCurrentWayPoint();
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void renderWayPoint(size_t index, int previous_index);
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void renderPlanningScene(const planning_scene::PlanningSceneConstPtr &scene);
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@ -305,6 +305,7 @@ void TaskSolutionVisualization::changedRobotAlpha()
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void TaskSolutionVisualization::changedRobotVisualEnabled()
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{
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robot_render_->setVisualVisible(robot_visual_enabled_property_->getBool());
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renderCurrentWayPoint();
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for (std::size_t i = 0; i < trail_.size(); ++i)
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trail_[i]->setVisualVisible(robot_visual_enabled_property_->getBool());
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}
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@ -312,6 +313,7 @@ void TaskSolutionVisualization::changedRobotVisualEnabled()
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void TaskSolutionVisualization::changedRobotCollisionEnabled()
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{
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robot_render_->setCollisionVisible(robot_collision_enabled_property_->getBool());
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renderCurrentWayPoint();
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for (std::size_t i = 0; i < trail_.size(); ++i)
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trail_[i]->setCollisionVisible(robot_collision_enabled_property_->getBool());
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}
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@ -352,7 +354,7 @@ void TaskSolutionVisualization::onAllAtOnceChanged(bool all_at_once)
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if (all_at_once)
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addMarkers(displaying_solution_);
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else if (current_state_ >= 0)
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renderWayPoint(current_state_, -1);
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renderCurrentWayPoint();
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}
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float TaskSolutionVisualization::getStateDisplayTime()
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@ -471,6 +473,12 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt)
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setVisibility();
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}
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void TaskSolutionVisualization::renderCurrentWayPoint()
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{
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if (displaying_solution_)
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renderWayPoint(current_state_, -1);
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}
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void TaskSolutionVisualization::renderWayPoint(size_t index, int previous_index)
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{
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assert(index >= 0);
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@ -591,7 +599,7 @@ void TaskSolutionVisualization::enabledRobotColor()
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void TaskSolutionVisualization::changedAttachedBodyColor()
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{
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renderCurrentWayPoint();
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}
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void TaskSolutionVisualization::unsetRobotColor(rviz::Robot* robot)
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