trajectory_display.cpp

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/* Author: Dave Coleman
   Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
*/
 
#include <moveit/trajectory_rviz_plugin/trajectory_display.h>
#include <rviz_common/properties/string_property.hpp>
#include <moveit/utils/logger.hpp>
 
#include <memory>
 
namespace moveit_rviz_plugin
{
 
TrajectoryDisplay::TrajectoryDisplay() : Display(), logger_(moveit::getLogger("moveit.ros.trajectory_display"))
 
{
  // The robot description property is only needed when using the trajectory playback standalone (not within motion
  // planning plugin)
  robot_description_property_ = new rviz_common::properties::StringProperty(
      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
      this, SLOT(changedRobotDescription()), this);
 
  trajectory_visual_ = std::make_shared<TrajectoryVisualization>(this, this);
}
 
TrajectoryDisplay::~TrajectoryDisplay() = default;
 
void TrajectoryDisplay::onInitialize()
{
  Display::onInitialize();
 
  auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
  if (!ros_node_abstraction)
  {
    RCLCPP_INFO(logger_, "Unable to lock weak_ptr from DisplayContext in TrajectoryDisplay constructor");
    return;
  }
  node_ = ros_node_abstraction->get_raw_node();
  trajectory_visual_->onInitialize(node_, scene_node_, context_);
}
 
void TrajectoryDisplay::loadRobotModel()
{
  try
  {
    rdf_loader_ = std::make_shared<rdf_loader::RDFLoader>(node_, robot_description_property_->getStdString());
 
    if (!rdf_loader_->getURDF())
    {
      setStatus(rviz_common::properties::StatusProperty::Error, "Robot Model",
                "Failed to load from parameter " + robot_description_property_->getString());
      return;
    }
    setStatus(rviz_common::properties::StatusProperty::Ok, "Robot Model", "Successfully loaded");
 
    const srdf::ModelSharedPtr& srdf =
        rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : std::make_shared<srdf::Model>();
    robot_model_ = std::make_shared<moveit::core::RobotModel>(rdf_loader_->getURDF(), srdf);
 
    // Send to child class
    trajectory_visual_->onRobotModelLoaded(robot_model_);
  }
  catch (std::exception& e)
  {
    setStatus(rviz_common::properties::StatusProperty::Error, "RobotModel", QString("Loading failed: %1").arg(e.what()));
  }
}
 
void TrajectoryDisplay::reset()
{
  Display::reset();
  loadRobotModel();
  trajectory_visual_->reset();
}
 
void TrajectoryDisplay::load(const rviz_common::Config& config)
{
  // This property needs to be loaded in onEnable() below, which is triggered
  // in the beginning of Display::load() before the other property would be available
  robot_description_property_->load(config.mapGetChild("Robot Description"));
  Display::load(config);
}
 
void TrajectoryDisplay::onEnable()
{
  Display::onEnable();
  if (!rdf_loader_)
    loadRobotModel();
  trajectory_visual_->onEnable();
}
 
void TrajectoryDisplay::onDisable()
{
  Display::onDisable();
  trajectory_visual_->onDisable();
}
 
void TrajectoryDisplay::update(float wall_dt, float ros_dt)
{
  Display::update(wall_dt, ros_dt);
  trajectory_visual_->update(wall_dt, ros_dt);
}
 
void TrajectoryDisplay::changedRobotDescription()
{
  if (isEnabled())
  {
    reset();
  }
  else
  {
    loadRobotModel();
  }
}
 
}  // namespace moveit_rviz_plugin