visualization_msgs::Marker getTrajectoryMarker( const robot_trajectory::RobotTrajectoryPtr& rt,
const std::string& link,
const std::string& ns,
int id)
{
visualization_msgs::Marker line = initLineStripMarker(ns,id);
for(int k=0; k<rt->getWayPointCount(); ++k)
{
geometry_msgs::Point p;
p.x = rt->getWayPointPtr(k)->getGlobalLinkTransform(link).translation().x();
p.y = rt->getWayPointPtr(k)->getGlobalLinkTransform(link).translation().y();
p.z = rt->getWayPointPtr(k)->getGlobalLinkTransform(link).translation().z();
line.points.push_back(p);
}
return line;
}
void renderHierarchicalTrajectory(
robot_trajectory::RobotTrajectoryPtr& robot_trajectory,
ros::NodeHandle& node_handle, robot_model::RobotModelPtr& robot_model)
{
static ros::Publisher vis_marker_array_publisher_ = node_handle.advertise<
visualization_msgs::MarkerArray>("itomp_planner/trajectory", 10);
visualization_msgs::MarkerArray ma;
std::vector<std::string> link_names = robot_model->getLinkModelNames();
std_msgs::ColorRGBA color;
std::string ns = "robot";
ros::Duration dur(100.0);
std::map<std::string, std_msgs::ColorRGBA> colorMap;
color.a = 0.3;
color.r = 0.5;
color.g = 1.0;
color.b = 1.0;
colorMap["lower_body"] = color;
color.a = 0.3;
color.r = 0.5;
color.g = 1.0;
color.b = 0.3;
colorMap["torso"] = color;
color.g = 0.3;
color.b = 1.0;
colorMap["head"] = color;
color.r = 0.9;
color.g = 0.5;
color.b = 0.3;
colorMap["left_arm"] = color;
color.r = 0.9;
color.g = 0.3;
color.b = 0.5;
colorMap["right_arm"] = color;
color.r = 1.0;
color.g = 1.0;
color.b = 1.0;
colorMap["object"] = color;
const robot_state::JointModelGroup* joint_model_group;
std::map<std::string, std::vector<std::string> > group_links_map;
group_links_map["lower_body"] = robot_model->getJointModelGroup(
"lower_body")->getLinkModelNames();
group_links_map["torso"] =
robot_model->getJointModelGroup("torso")->getLinkModelNames();
group_links_map["head"] =
robot_model->getJointModelGroup("head")->getLinkModelNames();
group_links_map["left_arm"] =
robot_model->getJointModelGroup("left_arm")->getLinkModelNames();
group_links_map["right_arm"] =
robot_model->getJointModelGroup("right_arm")->getLinkModelNames();
group_links_map["object"].clear();
if (robot_model->hasLinkModel("right_hand_object_link"))
group_links_map["object"].push_back("right_hand_object_link");
int num_waypoints = robot_trajectory->getWayPointCount();
for (int i = 0; i < num_waypoints; ++i)
{
ma.markers.clear();
robot_state::RobotStatePtr state = robot_trajectory->getWayPointPtr(i);
for (std::map<std::string, std::vector<std::string> >::iterator it =
group_links_map.begin(); it != group_links_map.end(); ++it)
{
std::string ns = "robot_" + it->first;
state->getRobotMarkers(ma, group_links_map[it->first],
colorMap[it->first], ns, dur);
}
vis_marker_array_publisher_.publish(ma);
double time = (i == 0 || i == num_waypoints - 1) ? 2.0 : 0.05;
ros::WallDuration timer(time);
timer.sleep();
}
for (int i = 0; i < 10; ++i)
{
ma.markers.clear();
robot_state::RobotStatePtr state = robot_trajectory->getWayPointPtr(
num_waypoints - 1);
for (std::map<std::string, std::vector<std::string> >::iterator it =
group_links_map.begin(); it != group_links_map.end(); ++it)
{
std::string ns = "robot_" + it->first;
state->getRobotMarkers(ma, group_links_map[it->first],
colorMap[it->first], ns, dur);
}
vis_marker_array_publisher_.publish(ma);
double time = 0.05;
ros::WallDuration timer(time);
timer.sleep();
}
}
