motion_planning_display.h
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34 
35 /* Author: Ioan Sucan, Dave Coleman, Adam Leeper, Sachin Chitta */
36 
37 #pragma once
38 
39 #include <rviz/display.h>
40 #include <rviz/panel_dock_widget.h>
43 
44 #ifndef Q_MOC_RUN
48 
52 
53 #include <ros/ros.h>
54 
55 #include <std_msgs/String.h>
56 #include <moveit_msgs/DisplayTrajectory.h>
57 #endif
58 
59 #include <memory>
60 
61 namespace Ogre
62 {
63 class SceneNode;
64 }
65 
66 namespace rviz
67 {
68 class Robot;
69 class Shape;
70 class Property;
71 class StringProperty;
72 class BoolProperty;
73 class FloatProperty;
74 class RosTopicProperty;
75 class EnumProperty;
76 class ColorProperty;
77 class MovableText;
78 } // namespace rviz
79 
81 {
83 {
84  Q_OBJECT
85 
86 public:
88 
89  ~MotionPlanningDisplay() override;
90 
91  void load(const rviz::Config& config) override;
92  void save(rviz::Config config) const override;
93 
94  void update(float wall_dt, float ros_dt) override;
95  void reset() override;
96 
97  void setName(const QString& name) override;
98 
99  moveit::core::RobotStateConstPtr getQueryStartState() const
100  {
101  return query_start_state_->getState();
102  }
103 
104  moveit::core::RobotStateConstPtr getQueryGoalState() const
105  {
106  return query_goal_state_->getState();
107  }
108 
110  {
111  return *previous_state_;
112  }
113 
114  const robot_interaction::RobotInteractionPtr& getRobotInteraction() const
115  {
116  return robot_interaction_;
117  }
118 
119  const robot_interaction::InteractionHandlerPtr& getQueryStartStateHandler() const
120  {
121  return query_start_state_;
122  }
123 
124  const robot_interaction::InteractionHandlerPtr& getQueryGoalStateHandler() const
125  {
126  return query_goal_state_;
127  }
128 
130  {
131  trajectory_visual_->dropTrajectory();
132  }
133 
134  void setQueryStartState(const moveit::core::RobotState& start);
136 
137  void updateQueryStates(const moveit::core::RobotState& current_state);
138  void updateQueryStartState();
139  void updateQueryGoalState();
141 
142  void useApproximateIK(bool flag);
143 
144  // Pick Place
146  void visualizePlaceLocations(const std::vector<geometry_msgs::PoseStamped>& place_poses);
147  std::vector<std::shared_ptr<rviz::Shape> > place_locations_display_;
148 
149  std::string getCurrentPlanningGroup() const;
150 
151  void changePlanningGroup(const std::string& group);
152 
153  void addStatusText(const std::string& text);
154  void addStatusText(const std::vector<std::string>& text);
155  void setStatusTextColor(const QColor& color);
156  void resetStatusTextColor();
157 
158  void toggleSelectPlanningGroupSubscription(bool enable);
159 
160 Q_SIGNALS:
161  // signals issued when start/goal states of a query changed
162  void queryStartStateChanged();
163  void queryGoalStateChanged();
164 
165 private Q_SLOTS:
166 
167  // ******************************************************************************************
168  // Slot Event Functions
169  // ******************************************************************************************
170 
171  void changedQueryStartState();
172  void changedQueryGoalState();
174  void changedQueryStartColor();
175  void changedQueryGoalColor();
176  void changedQueryStartAlpha();
177  void changedQueryGoalAlpha();
180  void changedAttachedBodyColor() override;
181  void changedPlanningGroup();
182  void changedShowWeightLimit();
188  void changedWorkspace();
190  void motionPanelVisibilityChange(bool enable);
191 
192 protected:
194  {
197  };
198 
199  void clearRobotModel() override;
200  void onRobotModelLoaded() override;
201  void onNewPlanningSceneState() override;
203  void updateInternal(float wall_dt, float ros_dt) override;
204 
205  void renderWorkspaceBox();
206  void updateLinkColors();
207 
208  void displayTable(const std::map<std::string, double>& values, const Ogre::ColourValue& color,
209  const Ogre::Vector3& pos, const Ogre::Quaternion& orient);
210  void displayMetrics(bool start);
211 
212  void executeMainLoopJobs();
213  void publishInteractiveMarkers(bool pose_update);
214 
217  void drawQueryStartState();
218  void drawQueryGoalState();
219  void scheduleDrawQueryStartState(robot_interaction::InteractionHandler* handler, bool error_state_changed);
220  void scheduleDrawQueryGoalState(robot_interaction::InteractionHandler* handler, bool error_state_changed);
221 
223  const double* ik_solution) const;
224 
225  void computeMetrics(bool start, const std::string& group, double payload);
226  void computeMetricsInternal(std::map<std::string, double>& metrics,
228  const moveit::core::RobotState& state, double payload);
231  void backgroundJobUpdate(moveit::tools::BackgroundProcessing::JobEvent event, const std::string& jobname);
232 
233  void setQueryStateHelper(bool use_start_state, const std::string& v);
234  void populateMenuHandler(std::shared_ptr<interactive_markers::MenuHandler>& mh);
235 
236  void selectPlanningGroupCallback(const std_msgs::StringConstPtr& msg);
237 
238  // overrides from Display
239  void onInitialize() override;
240  void onEnable() override;
241  void onDisable() override;
242  void fixedFrameChanged() override;
243 
244  RobotStateVisualizationPtr query_robot_start_;
245  RobotStateVisualizationPtr query_robot_goal_;
246 
247  Ogre::SceneNode* text_display_scene_node_;
250 
253 
254  // render the workspace box
255  std::unique_ptr<rviz::Shape> workspace_box_;
256 
257  // the planning frame
260 
261  // robot interaction
262  robot_interaction::RobotInteractionPtr robot_interaction_;
263  robot_interaction::InteractionHandlerPtr query_start_state_;
264  robot_interaction::InteractionHandlerPtr query_goal_state_;
265  std::shared_ptr<interactive_markers::MenuHandler> menu_handler_start_;
266  std::shared_ptr<interactive_markers::MenuHandler> menu_handler_goal_;
267  std::map<std::string, LinkDisplayStatus> status_links_start_;
268  std::map<std::string, LinkDisplayStatus> status_links_goal_;
270  moveit::core::RobotStatePtr previous_state_;
271 
274  std::set<std::string> modified_groups_;
275 
278  std::map<std::pair<bool, std::string>, std::map<std::string, double> > computed_metrics_;
280  std::map<std::string, bool> position_only_ik_;
281 
282  // Metric calculations
283  kinematics_metrics::KinematicsMetricsPtr kinematics_metrics_;
284  std::map<std::string, dynamics_solver::DynamicsSolverPtr> dynamics_solver_;
285  boost::mutex update_metrics_lock_;
286 
287  // The trajectory playback component
288  TrajectoryVisualizationPtr trajectory_visual_;
289 
290  // properties to show on side panel
294 
305 
313 
315 };
316 
317 } // namespace moveit_rviz_plugin
moveit_rviz_plugin::MotionPlanningDisplay::onRobotModelLoaded
void onRobotModelLoaded() override
This is an event called by loadRobotModel() in the MainLoop; do not call directly.
Definition: motion_planning_display.cpp:1172
moveit_rviz_plugin::MotionPlanningDisplay::~MotionPlanningDisplay
~MotionPlanningDisplay() override
Definition: motion_planning_display.cpp:217
moveit_rviz_plugin::MotionPlanningDisplay::planning_group_property_
rviz::EnumProperty * planning_group_property_
Definition: motion_planning_display.h:295
moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_property_
rviz::BoolProperty * query_goal_state_property_
Definition: motion_planning_display.h:297
moveit_rviz_plugin::MotionPlanningDisplay::getPreviousState
const moveit::core::RobotState & getPreviousState() const
Definition: motion_planning_display.h:109
moveit_rviz_plugin::MotionPlanningDisplay::changedWorkspace
void changedWorkspace()
Definition: motion_planning_display.cpp:1078
moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsSetPayload
void changedMetricsSetPayload()
Definition: motion_planning_display.cpp:447
moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState
void drawQueryStartState()
Definition: motion_planning_display.cpp:644
moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_
robot_interaction::InteractionHandlerPtr query_goal_state_
Definition: motion_planning_display.h:264
moveit_rviz_plugin::MotionPlanningDisplay::compute_weight_limit_property_
rviz::BoolProperty * compute_weight_limit_property_
Definition: motion_planning_display.h:306
Ogre
moveit_rviz_plugin::MotionPlanningDisplay::computeMetrics
void computeMetrics(bool start, const std::string &group, double payload)
Definition: motion_planning_display.cpp:512
moveit_rviz_plugin::MotionPlanningDisplay::getRobotInteraction
const robot_interaction::RobotInteractionPtr & getRobotInteraction() const
Definition: motion_planning_display.h:114
moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_start_
std::shared_ptr< interactive_markers::MenuHandler > menu_handler_start_
Definition: motion_planning_display.h:265
moveit_rviz_plugin::MotionPlanningDisplay::changedShowWeightLimit
void changedShowWeightLimit()
Definition: motion_planning_display.cpp:391
moveit_rviz_plugin::MotionPlanningDisplay::rememberPreviousStartState
void rememberPreviousStartState()
Definition: motion_planning_display.cpp:969
moveit_rviz_plugin::MotionPlanningDisplay::changedQueryCollidingLinkColor
void changedQueryCollidingLinkColor()
Definition: motion_planning_display.cpp:913
moveit_rviz_plugin::MotionPlanningDisplay::setStatusTextColor
void setStatusTextColor(const QColor &color)
Definition: motion_planning_display.cpp:712
moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryStartState
void scheduleDrawQueryStartState(robot_interaction::InteractionHandler *handler, bool error_state_changed)
Definition: motion_planning_display.cpp:933
kinematics_metrics.h
moveit_rviz_plugin::MotionPlanningDisplay::private_handle_
ros::NodeHandle private_handle_
Definition: motion_planning_display.h:252
moveit_rviz_plugin::MotionPlanningDisplay::setQueryStateHelper
void setQueryStateHelper(bool use_start_state, const std::string &v)
Definition: motion_planning_display.cpp:1088
moveit_rviz_plugin::MotionPlanningDisplay::updateQueryGoalState
void updateQueryGoalState()
Definition: motion_planning_display.cpp:961
moveit_rviz_plugin::MotionPlanningDisplay::load
void load(const rviz::Config &config) override
Definition: motion_planning_display.cpp:1367
moveit_rviz_plugin::MotionPlanningDisplay::text_to_display_
rviz::MovableText * text_to_display_
Definition: motion_planning_display.h:249
ros.h
moveit_rviz_plugin::MotionPlanningDisplay::publishInteractiveMarkers
void publishInteractiveMarkers(bool pose_update)
Definition: motion_planning_display.cpp:836
moveit_rviz_plugin::MotionPlanningDisplay::node_handle_
ros::NodeHandle node_handle_
Definition: motion_planning_display.h:252
moveit_rviz_plugin::MotionPlanningDisplay::changedShowJointTorques
void changedShowJointTorques()
Definition: motion_planning_display.cpp:433
moveit_rviz_plugin::MotionPlanningDisplay::save
void save(rviz::Config config) const override
Definition: motion_planning_display.cpp:1433
moveit_rviz_plugin::MotionPlanningDisplay::MotionPlanningDisplay
MotionPlanningDisplay()
Definition: motion_planning_display.cpp:114
moveit_rviz_plugin::MotionPlanningDisplay::query_colliding_link_color_property_
rviz::ColorProperty * query_colliding_link_color_property_
Definition: motion_planning_display.h:303
moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryGoalState
void scheduleDrawQueryGoalState(robot_interaction::InteractionHandler *handler, bool error_state_changed)
Definition: motion_planning_display.cpp:943
moveit_rviz_plugin::MotionPlanningDisplay::text_display_scene_node_
Ogre::SceneNode * text_display_scene_node_
displays texts
Definition: motion_planning_display.h:247
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moveit_rviz_plugin::MotionPlanningDisplay::changedPlanningGroup
void changedPlanningGroup()
Definition: motion_planning_display.cpp:1054
moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsTextHeight
void changedMetricsTextHeight()
Definition: motion_planning_display.cpp:461
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moveit_rviz_plugin::MotionPlanningDisplay::renderWorkspaceBox
void renderWorkspaceBox()
Definition: motion_planning_display.cpp:489
moveit_rviz_plugin::MotionPlanningDisplay::executeMainLoopJobs
void executeMainLoopJobs()
moveit_rviz_plugin::MotionPlanningDisplay::query_outside_joint_limits_link_color_property_
rviz::ColorProperty * query_outside_joint_limits_link_color_property_
Definition: motion_planning_display.h:304
moveit_rviz_plugin::MotionPlanningDisplay::metrics_text_height_property_
rviz::FloatProperty * metrics_text_height_property_
Definition: motion_planning_display.h:311
moveit_rviz_plugin::MotionPlanningDisplay::status_links_goal_
std::map< std::string, LinkDisplayStatus > status_links_goal_
Definition: motion_planning_display.h:268
moveit_rviz_plugin::MotionPlanningDisplay::show_workspace_property_
rviz::BoolProperty * show_workspace_property_
Definition: motion_planning_display.h:312
moveit_rviz_plugin::MotionPlanningDisplay::getQueryGoalStateHandler
const robot_interaction::InteractionHandlerPtr & getQueryGoalStateHandler() const
Definition: motion_planning_display.h:124
moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartAlpha
void changedQueryStartAlpha()
Definition: motion_planning_display.cpp:877
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std::unique_ptr< rviz::Shape > workspace_box_
Definition: motion_planning_display.h:255
moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryGoalStateMetrics
void recomputeQueryGoalStateMetrics()
Definition: motion_planning_display.cpp:737
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void updateQueryStartState()
Definition: motion_planning_display.cpp:953
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Definition: motion_planning_display.h:293
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rviz::BoolProperty * show_manipulability_property_
Definition: motion_planning_display.h:308
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void update(float wall_dt, float ros_dt) override
Definition: motion_planning_display.cpp:1347
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void changePlanningGroup(const std::string &group)
Definition: motion_planning_display.cpp:1041
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Definition: motion_planning_display.cpp:587
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Definition: motion_planning_display.cpp:764
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void updateQueryStates(const moveit::core::RobotState &current_state)
Definition: motion_planning_display.cpp:1270
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Definition: motion_planning_display.h:82
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Definition: motion_planning_display.h:270
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Definition: motion_planning_display.cpp:419
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Definition: motion_planning_display.h:129
moveit_rviz_plugin::MotionPlanningDisplay::kinematics_metrics_
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Definition: motion_planning_display.h:283
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std::map< std::string, bool > position_only_ik_
Some groups use position only ik, calls to the metrics have to be modified appropriately.
Definition: motion_planning_display.h:280
moveit_rviz_plugin::MotionPlanningDisplay::resetInteractiveMarkers
void resetInteractiveMarkers()
Definition: motion_planning_display.cpp:829
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Definition: motion_planning_display.cpp:1013
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std::map< std::pair< bool, std::string >, std::map< std::string, double > > computed_metrics_
Definition: motion_planning_display.h:278
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Definition: motion_planning_display.h:193
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Definition: motion_planning_display.cpp:754
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void changedAttachedBodyColor() override
Definition: motion_planning_display.cpp:925
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Definition: motion_planning_display.cpp:998
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Definition: motion_planning_display.h:292
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Definition: motion_planning_display.h:288
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Definition: motion_planning_display.h:259
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Definition: motion_planning_display.cpp:306
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Definition: motion_planning_display.cpp:466
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Definition: motion_planning_display.h:285
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Definition: motion_planning_display.cpp:230
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Definition: motion_planning_display.cpp:895
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Definition: motion_planning_display.h:284
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Definition: motion_planning_display.cpp:718
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Definition: motion_planning_display.cpp:707
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Definition: motion_planning_display.h:299
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Definition: planning_scene_display.h:67
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Definition: motion_planning_display.h:266
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Definition: motion_planning_display.cpp:907
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Definition: motion_planning_display.cpp:325
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Definition: motion_planning_display.h:99
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Definition: motion_planning_display.cpp:1464
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Definition: motion_planning_display.h:314
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Definition: motion_planning_display.h:302
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Definition: motion_planning_display.cpp:865
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Definition: motion_planning_display.h:300
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Definition: motion_planning_display.h:147
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Definition: motion_planning_display.cpp:1305
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Definition: motion_planning_display.cpp:1357
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Definition: motion_planning_display.cpp:1251
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Definition: motion_planning_display.h:274
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Definition: motion_planning_display.h:80
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Definition: motion_planning_frame.h:98
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Definition: motion_planning_display.cpp:1155
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Definition: motion_planning_display.cpp:1293
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Definition: motion_planning_display.cpp:974
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Definition: motion_planning_display.h:196
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Definition: motion_planning_display.cpp:744
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Definition: motion_planning_display.cpp:1480
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Definition: motion_planning_display.h:258
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Definition: motion_planning_display.cpp:527
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Definition: motion_planning_display.cpp:986
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visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Sat Mar 15 2025 02:27:25