trajectory_display.hpp

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/* Author: Dave Coleman
   Desc:   Wraps a trajectory_visualization playback class for Rviz into a stand alone display
*/
 
#pragma once
 
#include <rclcpp/version.h>
 
#include <rviz_common/display.hpp>
#include <rviz_common/display_context.hpp>
#include <rviz_common/ros_integration/ros_node_abstraction_iface.hpp>
 
#include <moveit/rviz_plugin_render_tools/trajectory_visualization.hpp>
#ifndef Q_MOC_RUN
#include <rclcpp/rclcpp.hpp>
#include <moveit/rdf_loader/rdf_loader.hpp>
#endif
 
#include <chrono>
 
namespace rviz_common
{
class DisplayContext;
}
 
namespace moveit_rviz_plugin
{
class TrajectoryDisplay : public rviz_common::Display
{
  Q_OBJECT
  // friend class TrajectoryVisualization; // allow the visualization class to access the display
 
public:
  TrajectoryDisplay();
 
  ~TrajectoryDisplay() override;
 
  void loadRobotModel();
 
  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;
 
  // overrides from Display
  void onInitialize() override;
  void onEnable() override;
  void onDisable() override;
 
private Q_SLOTS:
  void changedRobotDescription();
 
protected:
  // The trajectory playback component
  TrajectoryVisualizationPtr trajectory_visual_;
 
  // Load robot model
  rdf_loader::RDFLoaderPtr rdf_loader_;
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
 
  // Properties
  rviz_common::properties::StringProperty* robot_description_property_;
 
  rclcpp::Node::SharedPtr node_;
  rclcpp::Logger logger_;
};
 
}  // namespace moveit_rviz_plugin