planning_scene_display.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <rclcpp/version.h>
 
#include <rviz_common/display.hpp>
#include <rviz_default_plugins/robot/robot.hpp>
#include <rviz_common/properties/string_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#ifndef Q_MOC_RUN
#include <moveit/rviz_plugin_render_tools/planning_scene_render.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/planning_scene_rviz_plugin/background_processing.hpp>
#include <rclcpp/rclcpp.hpp>
#endif
 
#include <moveit_planning_scene_rviz_plugin_core_export.h>
 
#include <chrono>
 
namespace Ogre
{
class SceneNode;
}
 
namespace rviz
{
class Robot;
class Property;
class StringProperty;
class BoolProperty;
class FloatProperty;
class RosTopicProperty;
class ColorProperty;
class EnumProperty;
}  // namespace rviz
 
namespace moveit_rviz_plugin
{
class MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_EXPORT PlanningSceneDisplay : public rviz_common::Display
{
  Q_OBJECT
 
public:
  PlanningSceneDisplay(bool listen_to_planning_scene = true, bool show_scene_robot = true);
  ~PlanningSceneDisplay() override;
 
  void load(const rviz_common::Config& config) override;
  void save(rviz_common::Config config) const override;
 
  // For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
  using rviz_common::Display::update;
  // `using` handles update(float, float) deprecation warning and redirect
  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
// For Kilted and older
#else
  void update(float wall_dt, float ros_dt) override;
#endif
 
  void reset() override;
 
  void setLinkColor(const std::string& link_name, const QColor& color);
  void unsetLinkColor(const std::string& link_name);
 
  void queueRenderSceneGeometry();

  void addBackgroundJob(const std::function<void()>& job, const std::string& name);

  void spawnBackgroundJob(const std::function<void()>& job);

  void addMainLoopJob(const std::function<void()>& job);
 
  void waitForAllMainLoopJobs();

  void clearJobs();
 
  const std::string getMoveGroupNS() const;
  const moveit::core::RobotModelConstPtr& getRobotModel() const;

  bool waitForCurrentRobotState(const rclcpp::Time& t);
  planning_scene_monitor::LockedPlanningSceneRO getPlanningSceneRO() const;
  planning_scene_monitor::LockedPlanningSceneRW getPlanningSceneRW();
  const planning_scene_monitor::PlanningSceneMonitorPtr& getPlanningSceneMonitor();
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
  void changedMoveGroupNS();
  void changedRobotDescription();
  void changedSceneName();
  void changedSceneEnabled();
  void changedSceneRobotVisualEnabled();
  void changedSceneRobotCollisionEnabled();
  void changedRobotSceneAlpha();
  void changedSceneAlpha();
  void changedSceneColor();
  void changedPlanningSceneTopic();
  void changedSceneDisplayTime();
  void changedOctreeRenderMode();
  void changedOctreeColorMode();
  void setSceneName(const QString& name);
 
protected Q_SLOTS:
  virtual void changedAttachedBodyColor();
 
protected:
  void loadRobotModel();

  virtual void clearRobotModel();

  virtual planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor();

  virtual void onRobotModelLoaded();
  virtual void onNewPlanningSceneState();

  void calculateOffsetPosition();
 
  void executeMainLoopJobs();
  void sceneMonitorReceivedUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
  void renderPlanningScene();
  void setLinkColor(rviz_default_plugins::robot::Robot* robot, const std::string& link_name, const QColor& color);
  void unsetLinkColor(rviz_default_plugins::robot::Robot* robot, const std::string& link_name);
  void setGroupColor(rviz_default_plugins::robot::Robot* robot, const std::string& group_name, const QColor& color);
  void unsetGroupColor(rviz_default_plugins::robot::Robot* robot, const std::string& group_name);
  void unsetAllColors(rviz_default_plugins::robot::Robot* robot);
 
  // overrides from Display
  void onInitialize() override;
  void onEnable() override;
  void onDisable() override;
  void fixedFrameChanged() override;
 
  // new virtual functions added by this plugin
  virtual void updateInternal(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt);
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
  [[deprecated("Use updateInternal(std::chrono::nanoseconds, std::chrono::nanoseconds) instead")]] virtual void
  updateInternal(double wall_dt, double ros_dt);
// For Kilted and older
#else
  virtual void updateInternal(double wall_dt, double ros_dt);
#endif
  virtual void onSceneMonitorReceivedUpdate(planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
 
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  std::mutex robot_model_loading_lock_;
 
  moveit::tools::BackgroundProcessing background_process_;
  std::deque<std::function<void()> > main_loop_jobs_;
  std::mutex main_loop_jobs_lock_;
  std::condition_variable main_loop_jobs_empty_condition_;
 
  Ogre::SceneNode* planning_scene_node_;  
 
  // render the planning scene
  RobotStateVisualizationPtr planning_scene_robot_;
  PlanningSceneRenderPtr planning_scene_render_;
 
  // full update required
  bool planning_scene_needs_render_;
  // or only the robot position (excluding attached object changes)
  bool robot_state_needs_render_;
  double current_scene_time_;
 
  rviz_common::properties::Property* scene_category_;
  rviz_common::properties::Property* robot_category_;
 
  rviz_common::properties::StringProperty* move_group_ns_property_;
  rviz_common::properties::StringProperty* robot_description_property_;
  rviz_common::properties::StringProperty* scene_name_property_;
  rviz_common::properties::BoolProperty* scene_enabled_property_;
  rviz_common::properties::BoolProperty* scene_robot_visual_enabled_property_;
  rviz_common::properties::BoolProperty* scene_robot_collision_enabled_property_;
  rviz_common::properties::RosTopicProperty* planning_scene_topic_property_;
  rviz_common::properties::FloatProperty* robot_alpha_property_;
  rviz_common::properties::FloatProperty* scene_alpha_property_;
  rviz_common::properties::ColorProperty* scene_color_property_;
  rviz_common::properties::ColorProperty* attached_body_color_property_;
  rviz_common::properties::FloatProperty* scene_display_time_property_;
  rviz_common::properties::EnumProperty* octree_render_property_;
  rviz_common::properties::EnumProperty* octree_coloring_property_;
 
  // rclcpp node
  rclcpp::Node::SharedPtr node_;
  rclcpp::Logger logger_;
};
 
}  // namespace moveit_rviz_plugin