robot_state_display.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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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_;

  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