trajectory_visualization.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
#include <rclcpp/version.h>
 
#include <moveit/macros/class_forward.hpp>
#include <rviz_common/display.hpp>
#include <rviz_common/panel_dock_widget.hpp>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <mutex>
#include <rclcpp/logger.hpp>
 
#ifndef Q_MOC_RUN
#include <moveit/rviz_plugin_render_tools/robot_state_visualization.hpp>
#include <moveit/rviz_plugin_render_tools/trajectory_panel.hpp>
#include <rclcpp/rclcpp.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit_msgs/msg/display_trajectory.hpp>
#endif
 
namespace rviz
{
class Robot;
class Shape;
class Property;
class IntProperty;
class StringProperty;
class BoolProperty;
class FloatProperty;
class RosTopicProperty;
class EditableEnumProperty;
class ColorProperty;
class MovableText;
}  // namespace rviz
 
namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(TrajectoryVisualization);  // Defines TrajectoryVisualizationPtr, ConstPtr, WeakPtr... etc
 
class TrajectoryVisualization : public QObject
{
  Q_OBJECT
 
public:
  TrajectoryVisualization(rviz_common::properties::Property* widget, rviz_common::Display* display);
 
  ~TrajectoryVisualization() override;
 
  virtual void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds sim_dt);
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds) instead")]] virtual void
  update(double wall_dt, double ros_dt);
// For Kilted and older
#else
  virtual void update(double wall_dt, double ros_dt);
#endif
  virtual void reset();
 
  void onInitialize(const rclcpp::Node::SharedPtr& node, Ogre::SceneNode* scene_node,
                    rviz_common::DisplayContext* context);
  void clearRobotModel();
  void onRobotModelLoaded(const moveit::core::RobotModelConstPtr& robot_model);
  void onEnable();
  void onDisable();
  void setName(const QString& name);
 
  void dropTrajectory();
 
public Q_SLOTS:
  void interruptCurrentDisplay();
  void setDefaultAttachedObjectColor(const QColor& color);
 
private Q_SLOTS:
 
  void changedDisplayPathVisualEnabled();
  void changedDisplayPathCollisionEnabled();
  void changedRobotPathAlpha();
  void changedLoopDisplay();
  void changedShowTrail();
  void changedTrailStepSize();
  void changedTrajectoryTopic();
  void changedStateDisplayTime();
  void changedRobotColor();
  void enabledRobotColor();
  void trajectorySliderPanelVisibilityChange(bool enable);
 
protected:
  void incomingDisplayTrajectory(const moveit_msgs::msg::DisplayTrajectory::ConstSharedPtr& msg);
 
  double getStateDisplayTime();
  void clearTrajectoryTrail();
 
  // Handles actually drawing the robot along motion plans
  RobotStateVisualizationPtr display_path_robot_;
  std_msgs::msg::ColorRGBA default_attached_object_color_;
 
  // Handle colouring of robot
  void setRobotColor(rviz_default_plugins::robot::Robot* robot, const QColor& color);
  void unsetRobotColor(rviz_default_plugins::robot::Robot* robot);
 
  robot_trajectory::RobotTrajectoryPtr displaying_trajectory_message_;
  robot_trajectory::RobotTrajectoryPtr trajectory_message_to_display_;
  std::vector<RobotStateVisualizationUniquePtr> trajectory_trail_;
  rclcpp::Subscription<moveit_msgs::msg::DisplayTrajectory>::SharedPtr trajectory_topic_sub_;
  bool animating_path_;
  bool drop_displaying_trajectory_;
  int current_state_;
  double current_state_time_;
  std::mutex update_trajectory_message_;
 
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
 
  // Pointers from parent display that we save
  rviz_common::Display* display_;  // the parent display that this class populates
  rviz_common::properties::Property* widget_;
  Ogre::SceneNode* scene_node_;
  rviz_common::DisplayContext* context_;
  rclcpp::Node::SharedPtr node_;
  TrajectoryPanel* trajectory_slider_panel_;
  rviz_common::PanelDockWidget* trajectory_slider_dock_panel_;
  rclcpp::Logger logger_;
 
  // Properties
  rviz_common::properties::BoolProperty* display_path_visual_enabled_property_;
  rviz_common::properties::BoolProperty* display_path_collision_enabled_property_;
  rviz_common::properties::EditableEnumProperty* state_display_time_property_;
  rviz_common::properties::RosTopicProperty* trajectory_topic_property_;
  rviz_common::properties::FloatProperty* robot_path_alpha_property_;
  rviz_common::properties::BoolProperty* loop_display_property_;
  rviz_common::properties::BoolProperty* use_sim_time_property_;
  rviz_common::properties::BoolProperty* trail_display_property_;
  rviz_common::properties::BoolProperty* interrupt_display_property_;
  rviz_common::properties::ColorProperty* robot_color_property_;
  rviz_common::properties::BoolProperty* enable_robot_color_property_;
  rviz_common::properties::IntProperty* trail_step_size_property_;
};
 
}  // namespace moveit_rviz_plugin