void InteractiveMarkerDisplay::onInitialize()
{
tf::Transformer* tf = context_->getFrameManager()->getTFClient();
im_client_.reset( new interactive_markers::InteractiveMarkerClient( *tf, fixed_frame_.toStdString() ) );
im_client_->setInitCb( boost::bind( &InteractiveMarkerDisplay::initCb, this, _1 ) );
im_client_->setUpdateCb( boost::bind( &InteractiveMarkerDisplay::updateCb, this, _1 ) );
im_client_->setResetCb( boost::bind( &InteractiveMarkerDisplay::resetCb, this, _1 ) );
im_client_->setStatusCb( boost::bind( &InteractiveMarkerDisplay::statusCb, this, _1, _2, _3 ) );
client_id_ = ros::this_node::getName() + "/" + getNameStd();
onEnable();
}
// ******************************************************************************************
// Load
// ******************************************************************************************
void PlanningSceneDisplay::loadRobotModel()
{
planning_scene_render_.reset();
planning_scene_monitor_.reset(); // this so that the destructor of the PlanningSceneMonitor gets called before a new instance of a scene monitor is constructed
planning_scene_monitor_.reset(new planning_scene_monitor::PlanningSceneMonitor(robot_description_property_->getStdString(),
context_->getFrameManager()->getTFClientPtr(),
getNameStd() + "_planning_scene_monitor"));
if (planning_scene_monitor_->getPlanningScene())
{
planning_scene_monitor_->addUpdateCallback(boost::bind(&PlanningSceneDisplay::sceneMonitorReceivedUpdate, this, _1));
planning_scene_monitor_->startSceneMonitor(planning_scene_topic_property_->getStdString());
planning_scene_render_.reset(new PlanningSceneRender(planning_scene_node_, context_, planning_scene_robot_));
planning_scene_render_->getGeometryNode()->setVisible(scene_enabled_property_->getBool());
onRobotModelLoaded();
setStatus( rviz::StatusProperty::Ok, "PlanningScene", "Planning Scene Loaded Successfully" );
}
else
{
planning_scene_monitor_.reset();
setStatus( rviz::StatusProperty::Error, "PlanningScene", "No Planning Scene Loaded" );
}
}