robot_state_display.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <rclcpp/version.h>
 
#include <rviz_common/display.hpp>
 
#ifndef Q_MOC_RUN
#include <moveit/rdf_loader/rdf_loader.hpp>
#include <moveit/rviz_plugin_render_tools/robot_state_visualization.hpp>
#include <moveit_msgs/msg/display_robot_state.hpp>
#include <rclcpp/rclcpp.hpp>
#endif
 
#include <chrono>
 
namespace rviz_common
{
namespace properties
{
class Robot;
class StringProperty;
class BoolProperty;
class FloatProperty;
class RosTopicProperty;
class ColorProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace moveit_rviz_plugin
{
class RobotStateVisualization;
 
class RobotStateDisplay : public rviz_common::Display
{
  Q_OBJECT
 
public:
  RobotStateDisplay();
  ~RobotStateDisplay() override;
 
  void load(const rviz_common::Config& config) 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;
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  void setLinkColor(const std::string& link_name, const QColor& color);
  void unsetLinkColor(const std::string& link_name);
 
public Q_SLOTS:
  void setVisible(bool visible);
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
  void changedRobotDescription();
  void changedRootLinkName();
  void changedRobotSceneAlpha();
  void changedAttachedBodyColor();
  void changedRobotStateTopic();
  void changedEnableLinkHighlight();
  void changedEnableVisualVisible();
  void changedEnableCollisionVisible();
  void changedAllLinks();
 
protected:
  void initializeLoader();
  void loadRobotModel();
 
  void calculateOffsetPosition();
 
  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 newRobotStateCallback(const moveit_msgs::msg::DisplayRobotState::ConstSharedPtr& state);
 
  void setRobotHighlights(const moveit_msgs::msg::DisplayRobotState::_highlight_links_type& highlight_links);
  void setHighlight(const std::string& link_name, const std_msgs::msg::ColorRGBA& color);
  void unsetHighlight(const std::string& link_name);
 
  // overrides from Display
  void onInitialize() override;
  void onEnable() override;
  void onDisable() override;
  void fixedFrameChanged() override;
 
  // render the robot
  rclcpp::Node::SharedPtr node_;
  rclcpp::Subscription<moveit_msgs::msg::DisplayRobotState>::SharedPtr robot_state_subscriber_;
 
  RobotStateVisualizationPtr robot_;
  rdf_loader::RDFLoaderPtr rdf_loader_;
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
  std::map<std::string, std_msgs::msg::ColorRGBA> highlights_;
  bool update_state_;
 
  rviz_common::properties::StringProperty* robot_description_property_;
  rviz_common::properties::StringProperty* root_link_name_property_;
  rviz_common::properties::RosTopicProperty* robot_state_topic_property_;
  rviz_common::properties::FloatProperty* robot_alpha_property_;
  rviz_common::properties::ColorProperty* attached_body_color_property_;
  rviz_common::properties::BoolProperty* enable_link_highlight_;
  rviz_common::properties::BoolProperty* enable_visual_visible_;
  rviz_common::properties::BoolProperty* enable_collision_visible_;
  rviz_common::properties::BoolProperty* show_all_links_;
};
 
}  // namespace moveit_rviz_plugin