robot_state_display.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_VISUALIZATION_ROBOT_STATE_DISPLAY_RVIZ_ROBOT_STATE_DISPLAY_
#define MOVEIT_VISUALIZATION_ROBOT_STATE_DISPLAY_RVIZ_ROBOT_STATE_DISPLAY_

#include <rviz/display.h>

#ifndef Q_MOC_RUN
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/rviz_plugin_render_tools/robot_state_visualization.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <ros/ros.h>
#endif

namespace Ogre
{
class SceneNode;
}

namespace rviz
{
class Robot;
class StringProperty;
class BoolProperty;
class FloatProperty;
class RosTopicProperty;
class ColorProperty;
}

namespace moveit_rviz_plugin
{
class RobotStateVisualization;

class RobotStateDisplay : public rviz::Display
{
  Q_OBJECT

public:
  RobotStateDisplay();
  virtual ~RobotStateDisplay();

  virtual void update(float wall_dt, float ros_dt);
  virtual void reset();

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return kmodel_;
  }

  void setLinkColor(const std::string& link_name, const QColor& color);
  void unsetLinkColor(const std::string& link_name);

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
  void changedRobotDescription();
  void changedRootLinkName();
  void changedRobotSceneAlpha();
  void changedAttachedBodyColor();
  void changedRobotStateTopic();
  void changedEnableLinkHighlight();
  void changedEnableVisualVisible();
  void changedEnableCollisionVisible();
  void changedAllLinks();

protected:
  void loadRobotModel();

  void calculateOffsetPosition();

  void setLinkColor(rviz::Robot* robot, const std::string& link_name, const QColor& color);
  void unsetLinkColor(rviz::Robot* robot, const std::string& link_name);

  void newRobotStateCallback(const moveit_msgs::DisplayRobotState::ConstPtr& state);

  void setRobotHighlights(const moveit_msgs::DisplayRobotState::_highlight_links_type& highlight_links);
  void setHighlight(const std::string& link_name, const std_msgs::ColorRGBA& color);
  void unsetHighlight(const std::string& link_name);

  // overrides from Display
  virtual void onInitialize();
  virtual void onEnable();
  virtual void onDisable();
  virtual void fixedFrameChanged();

  // render the robot
  ros::NodeHandle root_nh_;
  ros::Subscriber robot_state_subscriber_;

  RobotStateVisualizationPtr robot_;
  rdf_loader::RDFLoaderPtr rdf_loader_;
  robot_model::RobotModelConstPtr kmodel_;
  robot_state::RobotStatePtr kstate_;
  std::map<std::string, std_msgs::ColorRGBA> highlights_;
  bool update_state_;
  bool load_robot_model_;  // for delayed robot initialization

  rviz::StringProperty* robot_description_property_;
  rviz::StringProperty* root_link_name_property_;
  rviz::RosTopicProperty* robot_state_topic_property_;
  rviz::FloatProperty* robot_alpha_property_;
  rviz::ColorProperty* attached_body_color_property_;
  rviz::BoolProperty* enable_link_highlight_;
  rviz::BoolProperty* enable_visual_visible_;
  rviz::BoolProperty* enable_collision_visible_;
  rviz::BoolProperty* show_all_links_;
};

}  // namespace moveit_rviz_plugin

#endif