moveit_task_constructor/visualization/motion_planning_tasks/task_display.cpp
Robert Haschke 6ba66b51a7 reworked TaskModels
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage
- TaskListModel collects several TaskModels
- TaskListModelCache: global singleton,
  maintaining TaskListModel of all tasks in system (used by panels)
- create LocalTask from stages available via pluglinlib
2017-11-03 19:16:04 +01:00

195 lines
6.9 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_monitor_topic_property_ =
new rviz::RosTopicProperty("Task Monitor Topic", DEFAULT_TASK_MONITOR_TOPIC,
ros::message_traits::datatype<moveit_task_constructor::Task>(),
"The topic on which task updates (moveit_msgs::Task messages) are received",
this, SLOT(changedTaskMonitorTopic()), this);
task_solution_topic_property_ =
new rviz::RosTopicProperty("Task Solution Topic", DEFAULT_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_monitor_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::updateTaskListModel()
{
task_model_ = TaskListModelCache::instance().getModel(
task_monitor_topic_property_->getString(),
task_solution_topic_property_->getString());
if (!task_model_) {
if (task_monitor_topic_property_->getString().isEmpty())
setStatus(rviz::StatusProperty::Warn, "Task Monitor", "invalid task monitor topic");
else if (task_solution_topic_property_->getString().isEmpty())
setStatus(rviz::StatusProperty::Warn, "Task Monitor", "invalid task solution topic");
else
setStatus(rviz::StatusProperty::Error, "Task Monitor", "failed to create TaskListModel");
} else {
boost::function<void(const moveit_task_constructor::TaskConstPtr &)> taskCB
([this](const moveit_task_constructor::TaskConstPtr &msg){
mainloop_jobs_.addJob([this, msg]() { task_model_->processTaskMessage(*msg); });
});
task_monitor_sub = update_nh_.subscribe(task_monitor_topic_property_->getStdString(), 2, taskCB);
boost::function<void(const moveit_task_constructor::SolutionConstPtr &)> solCB
([this](const moveit_task_constructor::SolutionConstPtr &msg){
mainloop_jobs_.addJob([this, msg]() { task_model_->processSolutionMessage(*msg); });
// TODO: use already processed trajectory (e.g. by ID)
mainloop_jobs_.addJob([this, msg]() {trajectory_visual_->showTrajectory(*msg);});
});
task_solution_sub = update_nh_.subscribe(task_solution_topic_property_->getStdString(), 2, solCB);
setStatus(rviz::StatusProperty::Ok, "Task Monitor", "Connected");
}
}
void TaskDisplay::changedTaskMonitorTopic()
{
task_monitor_sub.shutdown();
updateTaskListModel();
}
void TaskDisplay::changedTaskSolutionTopic()
{
task_solution_sub.shutdown();
updateTaskListModel();
}
} // namespace moveit_rviz_plugin