Пример #1
0
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;
}
Пример #2
0
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();
	}

}