moveit_task_constructor/visualization/motion_planning_tasks/task_display.cpp
2017-11-12 10:35:59 +01:00

209 lines
7.1 KiB
C++

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/* Author: Robert Haschke
Desc: Monitor manipulation tasks and visualize their solutions
*/
#include "task_display.h"
#include "task_list_model_cache.h"
#include <moveit_task_constructor/introspection.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>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/status_property.h>
namespace moveit_rviz_plugin
{
TaskDisplay::TaskDisplay() : Display()
{
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);
task_solution_topic_property_ =
new rviz::RosTopicProperty("Task Solution Topic", "",
ros::message_traits::datatype<moveit_task_constructor::Solution>(),
"The topic on which task solutions (moveit_msgs::Solution messages) are received",
this, SLOT(changedTaskSolutionTopic()), this);
trajectory_visual_.reset(new TaskSolutionVisualization(this, this));
}
void TaskDisplay::onInitialize()
{
Display::onInitialize();
trajectory_visual_->onInitialize(scene_node_, context_);
}
void TaskDisplay::loadRobotModel()
{
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();
loadRobotModel();
// (re)initialize task model
updateTaskListModel();
}
void TaskDisplay::onDisable()
{
Display::onDisable();
trajectory_visual_->onDisable();
// don't monitor topics when disabled
task_description_sub.shutdown();
task_statistics_sub.shutdown();
task_solution_sub.shutdown();
}
void TaskDisplay::update(float wall_dt, float ros_dt)
{
Display::update(wall_dt, ros_dt);
mainloop_jobs_.executeJobs();
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();
}
void TaskDisplay::taskDescriptionCB(const ros::MessageEvent<const moveit_task_constructor::TaskDescription> &event)
{
const moveit_task_constructor::TaskDescriptionConstPtr& msg = event.getMessage();
const std::string id = event.getPublisherName() + "/" + msg->id;
mainloop_jobs_.addJob([this, id, msg]() {
task_model_->processTaskDescriptionMessage(id, *msg);
});
}
void TaskDisplay::taskStatisticsCB(const ros::MessageEvent<const moveit_task_constructor::TaskStatistics> &event)
{
const moveit_task_constructor::TaskStatisticsConstPtr& msg = event.getMessage();
const std::string id = event.getPublisherName() + "/" + msg->id;
mainloop_jobs_.addJob([this, id, msg]() {
task_model_->processTaskStatisticsMessage(id, *msg);
});
}
void TaskDisplay::taskSolutionCB(const ros::MessageEvent<const moveit_task_constructor::Solution> &event)
{
const moveit_task_constructor::SolutionConstPtr& msg = event.getMessage();
const std::string id = event.getPublisherName() + "/" + msg->task_id;
mainloop_jobs_.addJob([this, id, msg]() {
if (task_model_) task_model_->processSolutionMessage(id, *msg);
// TODO: use already processed trajectory (e.g. by ID)
trajectory_visual_->showTrajectory(*msg);
});
}
void TaskDisplay::updateTaskListModel()
{
// generate task monitoring topics from solution topic
std::string solution_topic = task_solution_topic_property_->getStdString();
auto last_sep = solution_topic.find_last_of('/');
if (last_sep == std::string::npos)
return;
std::string base_ns = solution_topic.substr(0, last_sep+1);
task_model_ = TaskListModelCache::instance().getModel(base_ns);
if (task_model_) {
// listen to task descriptions updates
task_description_sub = update_nh_.subscribe(base_ns + DESCRIPTION_TOPIC, 2, &TaskDisplay::taskDescriptionCB, this);
// listen to task statistics updates
task_statistics_sub = update_nh_.subscribe(base_ns + STATISTICS_TOPIC, 2, &TaskDisplay::taskStatisticsCB, this);
} else {
setStatus(rviz::StatusProperty::Error, "Task Monitor", "failed to create TaskListModel");
}
// listen to task solutions
task_solution_sub = update_nh_.subscribe(solution_topic, 2, &TaskDisplay::taskSolutionCB, this);
setStatus(rviz::StatusProperty::Ok, "Task Monitor", "Connected");
}
void TaskDisplay::changedTaskSolutionTopic()
{
task_description_sub.shutdown();
task_statistics_sub.shutdown();
task_solution_sub.shutdown();
updateTaskListModel();
}
} // namespace moveit_rviz_plugin