moveit_task_constructor/visualization/motion_planning_tasks/task_display.cpp

137 lines
4.4 KiB
C++

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/* Author: Dave Coleman
Desc: Wraps a task_solution_visualization playback class for Rviz into a stand alone display
*/
#include "task_display.h"
#include <moveit_task_constructor/visualization_tools/task_solution_visualization.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <rviz/properties/string_property.h>
namespace moveit_rviz_plugin
{
TaskDisplay::TaskDisplay() : Display(), load_robot_model_(false)
{
// The robot description property is only needed when using the trajectory playback standalone (not within motion
// planning plugin)
robot_description_property_ = new rviz::StringProperty(
"Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
this, SLOT(changedRobotDescription()), this);
trajectory_visual_.reset(new TaskSolutionVisualization(this, this));
}
TaskDisplay::~TaskDisplay()
{
}
void TaskDisplay::onInitialize()
{
Display::onInitialize();
trajectory_visual_->onInitialize(scene_node_, context_, update_nh_);
}
void TaskDisplay::loadRobotModel()
{
load_robot_model_ = false;
rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
if (!rdf_loader_->getURDF())
{
this->setStatus(rviz::StatusProperty::Error, "Robot Model",
"Failed to load from parameter " + robot_description_property_->getString());
return;
}
this->setStatus(rviz::StatusProperty::Ok, "Robot Model", "Successfully loaded");
const srdf::ModelSharedPtr& srdf =
rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : srdf::ModelSharedPtr(new srdf::Model());
robot_model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
// Send to child class
trajectory_visual_->onRobotModelLoaded(robot_model_);
trajectory_visual_->onEnable();
}
void TaskDisplay::reset()
{
Display::reset();
loadRobotModel();
trajectory_visual_->reset();
}
void TaskDisplay::onEnable()
{
Display::onEnable();
load_robot_model_ = true; // allow loading of robot model in update()
}
void TaskDisplay::onDisable()
{
Display::onDisable();
trajectory_visual_->onDisable();
}
void TaskDisplay::update(float wall_dt, float ros_dt)
{
Display::update(wall_dt, ros_dt);
if (load_robot_model_)
loadRobotModel();
trajectory_visual_->update(wall_dt, ros_dt);
}
void TaskDisplay::setName(const QString& name)
{
BoolProperty::setName(name);
trajectory_visual_->setName(name);
}
void TaskDisplay::changedRobotDescription()
{
if (isEnabled())
reset();
else
loadRobotModel();
}
} // namespace moveit_rviz_plugin