Commit Graph

57 Commits

Author SHA1 Message Date
Robert Haschke
84ccd679d9 Fix compiler warnings
unused parameters and functions
2021-05-19 21:54:48 +02:00
v4hn
f59e5170fb drop useless assert 2021-03-22 14:39:35 +01:00
Robert Haschke
44eaf9975e rviz: catch + display invalid-robot-model exception 2021-03-19 18:22:04 +01:00
Robert Haschke
dd9ce974ce
tf2 compatibility for Noetic (#206) 2020-09-21 21:43:34 +02:00
Michael Görner
ee6c50ad31
Apply clang-format-10 (#199) 2020-08-20 11:56:53 +02:00
v4hn
15707673ed clang-tidy: performance-*
I NOLINTed the noexcept move constructor for Task for now because
the constructor *can* indeed throw exceptions.
2020-06-11 11:03:50 +02:00
v4hn
fa041ed2e6 clang-format: readability-container-size-empty 2020-06-11 11:03:50 +02:00
v4hn
5da2df4c61 clang-tidy: modernize-use-nullptr 2020-06-11 11:03:50 +02:00
v4hn
48f4c025ba clang-tidy: modernize-loop-convert 2020-06-11 11:03:50 +02:00
Robert Haschke
0725f81603 fix rviz solution execution
Store the set of joints involved in a received trajectories and
use this set to constrain serialization of solutions for execution to those joints only.
If this is not done, all joints of the RobotModel are considered for the trajectory,
but we might not have controllers defined for all joints, so execution will fail.

Maybe, a better approach might be to just ask the MTC planner to execute a specific solution id.
However, this requires that the planner node is still available.
2020-04-03 11:58:55 +02:00
Robert Haschke
7cda8e38d6 add missing Ogre includes 2020-02-06 17:31:10 +01:00
Robert Haschke
ef6cb1a746 TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
Michael Görner
f7b259259e Introduce clang-format (#102)
* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
Robert Haschke
345c183d06 remove redundant nullptr checks before delete 2019-06-04 14:20:47 +02:00
Robert Haschke
2da9e0d722 rework solution msgs
- to allow solution wrappers (WrappedSolution, SolutionSequence)
  to transmit their comment and markers as well
- introduced new SolutionInfo.msg,
  which is the info common to solution wrappers and actual SubTrajectories
2019-02-12 13:57:12 +01:00
Robert Haschke
5690d68311 fix display of attached objects
similar as in https://github.com/ros-planning/moveit/pull/1202
2018-11-23 11:09:56 +01:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
Robert Haschke
f6d9bd14f4 remove left debugging stuff 2018-10-20 23:33:54 +02:00
Robert Haschke
c3078edc99 use newly provided rviz::createMarker() function 2018-10-20 23:33:03 +02:00
Robert Haschke
eb50aaed0e SolutionBase: rename 'name' to 'comment' 2018-05-30 20:25:42 +02:00
Robert Haschke
cd88b22469 update trail in both directions:
- show new steps if current_state_ advanced
- hide steps if current_state_ reverted
2018-04-15 11:25:01 +02:00
Robert Haschke
534985bdbb show start / end scene for empty trajectories 2018-04-15 11:25:01 +02:00
Robert Haschke
962fe2a42d reworked TaskSolution visualization
- code simplification
- allow slider interaction at any time
- keep last frame visible if animation finished
- animating_ is true iff animation is running
  (previously it was also used to indicate the end of an animation cycle)
2018-04-15 11:25:01 +02:00
Robert Haschke
24e8b95203 TaskSolutionVisualization: solution_to_display_ -> next_solution_to_display_ 2018-04-15 11:25:01 +02:00
Robert Haschke
853fa86e37 switch markers when showing next subtrajectory 2018-03-26 00:14:32 +02:00
Robert Haschke
b316a2e9c4 allow marker pose updates during trajectory display
moved marker_visual_ from TaskDisplay to TaskSolutionVisualization
2018-03-26 00:14:32 +02:00
Robert Haschke
714117a48a reworked marker creation 2018-03-26 00:14:28 +02:00
Robert Haschke
5a55a5949b Merge branches 'bug-fixes', 'gui' and 'pick-stage' 2018-03-24 07:32:20 +01:00
Robert Haschke
936681f4c3 allow arbitrary (planning scene) frames for markers 2018-03-24 07:31:30 +01:00
Robert Haschke
3d07e34522 highlight currently active solution part 2018-03-23 17:25:49 +01:00
Robert Haschke
bffe5f9a55 position marker nodes w.r.t. planning frame 2018-03-23 17:08:06 +01:00
Robert Haschke
d816a13362 fix segfault: always createMarkers()
... to have all the scene nodes properly defined
in case namespace groups will be enabled later on
2018-03-23 17:08:06 +01:00
Robert Haschke
3fe3034410 MarkerVisualization: improve comments
- renamed showMarkers() -> addMarkers()
- MarkerVisualizationProperty: renamed visible_markers_ -> hosted_markers_

Hosted markers are not neccessarily visible,
only if the corresponding namespace group is enabled.
2018-03-23 17:08:06 +01:00
Robert Haschke
97bb6ef2c6 allow handling of failures
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
  Thus, solution IDs represent their creation order.
  In contrast, the order of publishing (in StageStatistics) should
  represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
5d5a74ecd0 improved realtime display of solutions
stay in sync with realtime by keeping small time differences
solution visualization: common setVisibility()
2018-02-12 22:33:39 +01:00
Robert Haschke
3e788084b2 improve solution visualization / navigation
- locking: suppress interrupting current solution display when navigating solutions
- display end scene at the end of a solution display
- allow to display multiple solutions (its markers)
2018-02-04 09:00:54 +01:00
Robert Haschke
30f6ade636 marker visualization 2018-02-04 09:00:54 +01:00
v4hn
d7719e721f add full license information
so dull... but for the matter of completeness
2017-12-12 21:24:32 +01:00
Robert Haschke
0246d60de9 DisplaySolution: struct to unify all data corresponding to a sub trajectory 2017-11-30 18:15:47 +01:00
Robert Haschke
9032dabca5 navigate solutions 2017-11-24 11:24:18 +01:00
Robert Haschke
c6c97e1836 share scene/robot model between TaskDisplay and associated TaskListModel 2017-11-20 00:57:25 +01:00
Robert Haschke
fdc0fa012a restore panel visibility when enabling 2017-11-19 22:26:09 +01:00
Robert Haschke
428bdd7d0c fixed visibility update of scene nodes
All scene nodes are hidden if
- there is no solution to display
- or if animation finished and neither the panel nor the trail are enabled

Hiding scene nodes is done by detaching them from their parent
2017-11-19 22:26:09 +01:00
Robert Haschke
d5627c0c39 cleanup 2017-11-19 22:26:05 +01:00
Robert Haschke
e9ba2248f8 Merge remote-tracking branch 'origin/master' into wip-refactor
- cmake 3.1 required for CMAKE_CXX_STANDARD
- more old-style signal/slots for Qt4 compatibility
2017-11-13 00:07:23 +01:00
Robert Haschke
12095405f4 DisplaySolution: make scene representing the end state
- start state is accessible via scene->getParent()
- allows to show the final state
2017-11-12 21:42:48 +01:00
Robert Haschke
9c5ddd3f6d split repo into different ROS packages: msgs, core, visualization 2017-11-12 21:42:48 +01:00
Robert Haschke
c1d676589a display scene corresponding to SubTrajectory 2017-11-12 11:42:29 +01:00
Robert Haschke
8129caa614 TaskSolutionVisualization: added scene, renamed vars 2017-11-12 10:35:59 +01:00
Robert Haschke
81126f5ef6 DisplaySolution class 2017-11-11 19:47:43 +01:00