DynamicRobotModel::DynamicRobotModel()
: rviz::Display()
, time_since_last_transform_( 0.0f )
{
visual_enabled_property_ = new rviz::Property( "Visual Enabled", true,
"Whether to display the visual representation of the robot.",
this, SLOT( updateVisualVisible() ));
collision_enabled_property_ = new rviz::Property( "Collision Enabled", false,
"Whether to display the collision representation of the robot.",
this, SLOT( updateCollisionVisible() ));
update_rate_property_ = new rviz::FloatProperty( "Update Interval", 0,
"Interval at which to update the links, in seconds. "
" 0 means to update every update cycle.",
this );
update_rate_property_->setMin( 0 );
alpha_property_ = new rviz::FloatProperty( "Alpha", 1,
"Amount of transparency to apply to the links.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0.0 );
alpha_property_->setMax( 1.0 );
robot_description_topic_property_ = new rviz::RosTopicProperty( "Robot description topic", "dynamic_robot_description",
QString::fromStdString( ros::message_traits::datatype<std_msgs::String>() ),
"std_msgs::String topic to subscribe to.",
this, SLOT( updateTopic() ));
tf_prefix_property_ = new rviz::StringProperty( "TF Prefix", "",
"Robot Model normally assumes the link name is the same as the tf frame name. "
" This option allows you to set a prefix. Mainly useful for multi-robot situations.",
this, SLOT( updateTfPrefix() ));
}
RobotModelDisplay::RobotModelDisplay()
: Display()
, has_new_transforms_( false )
, time_since_last_transform_( 0.0f )
{
visual_enabled_property_ = new Property( "Visual Enabled", true,
"Whether to display the visual representation of the robot.",
this, SLOT( updateVisualVisible() ));
collision_enabled_property_ = new Property( "Collision Enabled", false,
"Whether to display the collision representation of the robot.",
this, SLOT( updateCollisionVisible() ));
update_rate_property_ = new FloatProperty( "Update Interval", 0,
"Interval at which to update the links, in seconds. "
" 0 means to update every update cycle.",
this );
update_rate_property_->setMin( 0 );
alpha_property_ = new FloatProperty( "Alpha", 1,
"Amount of transparency to apply to the links.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0.0 );
alpha_property_->setMax( 1.0 );
robot_description_property_ = new StringProperty( "Robot Description", "robot_description",
"Name of the parameter to search for to load the robot description.",
this, SLOT( updateRobotDescription() ));
tf_prefix_property_ = new StringProperty( "TF Prefix", "",
"Robot Model normally assumes the link name is the same as the tf frame name. "
" This option allows you to set a prefix. Mainly useful for multi-robot situations.",
this, SLOT( updateTfPrefix() ));
}
void RobotModelDisplay::onInitialize()
{
robot_ = new Robot( scene_node_, context_, "Robot: " + getName().toStdString(), this );
updateVisualVisible();
updateCollisionVisible();
updateAlpha();
}
