// ******************************************************************************************
// Base class contructor
// ******************************************************************************************
RobotStateDisplay::RobotStateDisplay() :
Display(),
update_state_(false)
{
robot_description_property_ =
new rviz::StringProperty( "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
this,
SLOT( changedRobotDescription() ), this );
robot_state_topic_property_ =
new rviz::RosTopicProperty( "Robot State Topic", "display_robot_state",
ros::message_traits::datatype<moveit_msgs::DisplayRobotState>(),
"The topic on which the moveit_msgs::RobotState messages are received",
this,
SLOT( changedRobotStateTopic() ), this );
// Planning scene category -------------------------------------------------------------------------------------------
root_link_name_property_ =
new rviz::StringProperty( "Robot Root Link", "", "Shows the name of the root link for the robot model",
this,
SLOT( changedRootLinkName() ), this );
root_link_name_property_->setReadOnly(true);
robot_alpha_property_ =
new rviz::FloatProperty( "Robot Alpha", 1.0f, "Specifies the alpha for the robot links",
this,
SLOT( changedRobotSceneAlpha() ), this );
robot_alpha_property_->setMin( 0.0 );
robot_alpha_property_->setMax( 1.0 );
attached_body_color_property_ = new rviz::ColorProperty( "Attached Body Color", QColor(150, 50, 150), "The color for the attached bodies",
this,
SLOT( changedAttachedBodyColor() ), this );
enable_link_highlight_ = new rviz::BoolProperty("Show Highlights", true, "Specifies whether link highlighting is enabled",
this, SLOT( changedEnableLinkHighlight() ), this);
enable_visual_visible_ = new rviz::BoolProperty("Visual Enabled", true, "Whether to display the visual representation of the robot.",
this, SLOT( changedEnableVisualVisible() ), this);
enable_collision_visible_ = new rviz::BoolProperty("Collision Enabled", false, "Whether to display the collision representation of the robot.",
this, SLOT( changedEnableCollisionVisible() ), this);
show_all_links_ = new rviz::BoolProperty("Show All Links", true, "Toggle all links visibility on or off.",
this, SLOT( changedAllLinks() ), this);
}
// ******************************************************************************************
// Base class contructor
// ******************************************************************************************
PlanningSceneDisplay::PlanningSceneDisplay() :
Display(),
current_scene_time_(0.0f),
planning_scene_needs_render_(true)
{
robot_description_property_ =
new rviz::StringProperty( "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
this,
SLOT( changedRobotDescription() ), this );
planning_scene_topic_property_ =
new rviz::RosTopicProperty( "Planning Scene Topic", "planning_scene",
ros::message_traits::datatype<moveit_msgs::PlanningScene>(),
"The topic on which the moveit_msgs::PlanningScene messages are received",
this,
SLOT( changedPlanningSceneTopic() ), this );
// Category Groups
scene_category_ = new rviz::Property( "Scene Geometry", QVariant(), "", this );
robot_category_ = new rviz::Property( "Scene Robot", QVariant(), "", this );
// Planning scene category -------------------------------------------------------------------------------------------
scene_name_property_ =
new rviz::StringProperty( "Scene Name", "(noname)", "Shows the name of the planning scene",
scene_category_,
SLOT( changedSceneName() ), this );
scene_name_property_->setShouldBeSaved(false);
scene_enabled_property_ =
new rviz::BoolProperty( "Show Scene Geometry", true, "Indicates whether planning scenes should be displayed",
scene_category_,
SLOT( changedSceneEnabled() ), this );
scene_alpha_property_ =
new rviz::FloatProperty( "Scene Alpha", 0.9f, "Specifies the alpha for the robot links",
scene_category_,
SLOT( changedSceneAlpha() ), this );
scene_alpha_property_->setMin( 0.0 );
scene_alpha_property_->setMax( 1.0 );
scene_color_property_ = new rviz::ColorProperty( "Scene Color", QColor(50, 230, 50), "The color for the planning scene obstacles (if a color is not defined)",
scene_category_,
SLOT( changedSceneColor() ), this );
octree_render_property_ = new rviz::EnumProperty( "Voxel Rendering", "Occupied Voxels",
"Select voxel type.",
scene_category_, SLOT( changedOctreeRenderMode() ), this );
octree_render_property_->addOption( "Occupied Voxels", OCTOMAP_OCCUPIED_VOXELS );
octree_render_property_->addOption( "Free Voxels", OCTOMAP_FREE_VOXELS );
octree_render_property_->addOption( "All Voxels", OCTOMAP_FREE_VOXELS | OCTOMAP_OCCUPIED_VOXELS);
octree_coloring_property_ = new rviz::EnumProperty( "Voxel Coloring", "Z-Axis",
"Select voxel coloring mode",
scene_category_, SLOT( changedOctreeColorMode() ), this );
octree_coloring_property_->addOption( "Z-Axis", OCTOMAP_Z_AXIS_COLOR );
octree_coloring_property_->addOption( "Cell Probability", OCTOMAP_PROBABLILTY_COLOR );
root_link_name_property_ =
new rviz::StringProperty( "Robot Root Link", "", "Shows the name of the root link for the robot model",
robot_category_,
SLOT( changedRootLinkName() ), this );
root_link_name_property_->setReadOnly(true);
scene_robot_enabled_property_ =
new rviz::BoolProperty( "Show Scene Robot", true, "Indicates whether the robot state specified by the planning scene should be displayed",
robot_category_,
SLOT( changedSceneRobotEnabled() ), this );
robot_alpha_property_ =
new rviz::FloatProperty( "Robot Alpha", 0.5f, "Specifies the alpha for the robot links",
robot_category_,
SLOT( changedRobotSceneAlpha() ), this );
robot_alpha_property_->setMin( 0.0 );
robot_alpha_property_->setMax( 1.0 );
attached_body_color_property_ = new rviz::ColorProperty( "Attached Body Color", QColor(150, 50, 150), "The color for the attached bodies",
robot_category_,
SLOT( changedAttachedBodyColor() ), this );
scene_display_time_property_ =
new rviz::FloatProperty( "Scene Display Time", 0.2f, "The amount of wall-time to wait in between rendering updates to the planning scene (if any)",
scene_category_,
SLOT( changedSceneDisplayTime() ), this );
scene_display_time_property_->setMin(0.0001);
}
