rviz_panel.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_framework/data_warehouse.hpp>
#include <rviz_common/render_panel.hpp>
#include <rviz_common/window_manager_interface.hpp>
#include <rviz_common/visualization_manager.hpp>
#include <rviz_common/view_manager.hpp>
#include <rviz_common/view_controller.hpp>
#include <moveit/robot_state_rviz_plugin/robot_state_display.h>
#include <QWidget>
#include <QCheckBox>
#include <QHBoxLayout>
#include <QVBoxLayout>
 
namespace moveit_setup
{
// Used for loading kinematic model
static const std::string ROBOT_DESCRIPTION = "robot_description";
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state";
 
class RVizPanel : public QWidget, public rviz_common::WindowManagerInterface
{
  Q_OBJECT
public:
  RVizPanel(QWidget* parent, const rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr& node_abstraction,
            const DataWarehousePtr& config_data);
  ~RVizPanel() override;
 
  bool isReadyForInitialization() const
  {
    return rviz_render_panel_ == nullptr && getRobotModel() != nullptr;
  }
  void initialize();
  void updateFixedFrame();
 
  QWidget* getParentWindow() override
  {
    return parent_;
  }
 
  rviz_common::PanelDockWidget* addPane(const QString& /*name*/, QWidget* /*pane*/,
                                        Qt::DockWidgetArea /*area*/ = Qt::LeftDockWidgetArea,
                                        bool /*floating*/ = true) override
  {
    // Stub for now...just to define the WindowManagerInterface methods
    return nullptr;
  }
 
  void setStatus(const QString& /*message*/) override
  {
    // Stub for now...just to define the WindowManagerInterface methods
  }
 
public Q_SLOTS:
  void highlightLink(const std::string& link_name, const QColor& color)
  {
    Q_EMIT highlightLinkSignal(link_name, color);
  }
 
  void highlightGroup(const std::string& group_name)
  {
    Q_EMIT highlightGroupSignal(group_name);
  }
 
  void unhighlightAll()
  {
    Q_EMIT unhighlightAllSignal();
  }
 
Q_SIGNALS:
  // Protected event handlers
  void highlightLinkSignal(const std::string& link_name, const QColor& color);
  void highlightGroupSignal(const std::string& group_name);
  void unhighlightAllSignal();
 
protected Q_SLOTS:
  void highlightLinkEvent(const std::string& link_name, const QColor& color);
  void highlightGroupEvent(const std::string& group_name);
  void unhighlightAllEvent();
 
protected:
  moveit::core::RobotModelPtr getRobotModel() const;
 
  QWidget* parent_;
  rviz_common::RenderPanel* rviz_render_panel_{ nullptr };
  rviz_common::VisualizationManager* rviz_manager_{ nullptr };
  moveit_rviz_plugin::RobotStateDisplay* robot_state_display_{ nullptr };
  rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr node_abstraction_;
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<rclcpp::Logger> logger_;
 
  DataWarehousePtr config_data_;
};
}  // namespace moveit_setup