urdf_modifications_widget.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_controllers/urdf_modifications_widget.hpp>
#include <moveit_setup_framework/qt/helper_widgets.hpp>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGroupBox>
#include <QLabel>
 
namespace moveit_setup
{
namespace controllers
{
void UrdfModificationsWidget::onInit()
{
  QVBoxLayout* layout = new QVBoxLayout();
 
  layout->setAlignment(Qt::AlignTop);
 
  // Top Header Area ------------------------------------------------
  auto header = new HeaderWidget("ros2_control URDF Modifications",
                                 "This step can add the tags to the URDF required for interfacing with ros2_control. "
                                 "See https://control.ros.org/ for more info.",
                                 this);
  layout->addWidget(header);
  content_widget_ = new QWidget(this);
  layout->addWidget(content_widget_);
 
  this->setLayout(layout);
}
 
QWidget* UrdfModificationsWidget::makeInterfacesBox(const std::string& interface_type,
                                                    const std::vector<std::string>& available_interfaces,
                                                    const std::vector<std::string>& selected_interfaces,
                                                    QWidget* parent)
{
  QGroupBox* box = new QGroupBox((interface_type + " Interfaces").c_str(), parent);
  QVBoxLayout* box_layout = new QVBoxLayout(parent);
  for (const std::string& interface_name : available_interfaces)
  {
    QCheckBox* check = new QCheckBox(interface_name.c_str(), parent);
    box_layout->addWidget(check);
 
    std::string key = interface_type[0] + interface_name;
    check_boxes_[key] = check;
  }
  for (const std::string& interface_name : selected_interfaces)
  {
    std::string key = interface_type[0] + interface_name;
    check_boxes_[key]->setChecked(true);
  }
  box->setLayout(box_layout);
  return box;
}
 
void UrdfModificationsWidget::focusGiven()
{
  setup_step_.refresh();
  qDeleteAll(content_widget_->children());
  check_boxes_.clear();
 
  QVBoxLayout* layout = new QVBoxLayout();
  if (!setup_step_.needsModification())
  {
    layout->addWidget(new QLabel("All of the joints used by this MoveIt config have already been configured using\n"
                                 "ros2_control, so there is no need to modify the URDF with ros2_control tags."));
    content_widget_->setLayout(layout);
    return;
  }
 
  QWidget* interface_widget = new QWidget(this);
  QHBoxLayout* interface_layout = new QHBoxLayout();
 
  auto available_interfaces = setup_step_.getAvailableControlInterfaces(),
       selected_interfaces = setup_step_.getDefaultControlInterfaces();
 
  interface_layout->addWidget(makeInterfacesBox("Command", available_interfaces.command_interfaces,
                                                selected_interfaces.command_interfaces, interface_widget));
  interface_layout->addWidget(makeInterfacesBox("State", available_interfaces.state_interfaces,
                                                selected_interfaces.state_interfaces, interface_widget));
 
  interface_widget->setLayout(interface_layout);
  layout->addWidget(interface_widget);
 
  btn_add_interfaces_ = new QPushButton("Add interfaces");
  connect(btn_add_interfaces_, SIGNAL(clicked()), this, SLOT(addInterfaces()));
  layout->addWidget(btn_add_interfaces_);
 
  generated_text_widget_ = new QTextEdit();
  generated_text_widget_->setReadOnly(true);
  generated_text_widget_->setText(setup_step_.getJointsXML().c_str());
  layout->addWidget(generated_text_widget_);
  content_widget_->setLayout(layout);
}
 
std::vector<std::string> UrdfModificationsWidget::getInterfaces(const char first_letter,
                                                                const std::vector<std::string>& available_interfaces)
{
  std::vector<std::string> interface_names;
  for (const std::string& interface_name : available_interfaces)
  {
    std::string key = first_letter + interface_name;
    if (check_boxes_[key]->isChecked())
    {
      interface_names.push_back(interface_name);
    }
  }
  return interface_names;
}
 
void UrdfModificationsWidget::addInterfaces()
{
  auto available_interfaces = setup_step_.getAvailableControlInterfaces();
  setup_step_.setInterfaces(getInterfaces('C', available_interfaces.command_interfaces),
                            getInterfaces('S', available_interfaces.state_interfaces));
  generated_text_widget_->setText(setup_step_.getJointsXML().c_str());
}
 
}  // namespace controllers
}  // namespace moveit_setup
 
#include <pluginlib/class_list_macros.hpp>  // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::controllers::UrdfModificationsWidget, moveit_setup::SetupStepWidget)