task_display.h

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/* Author: Robert Haschke
   Desc:   Monitor manipulation tasks and visualize their solutions
*/
 
#pragma once
 
#include <rviz/display.h>
#include <moveit/visualization_tools/task_solution_visualization.h>
 
#ifndef Q_MOC_RUN
#include "job_queue.h"
#include <moveit/macros/class_forward.h>
#include <ros/subscriber.h>
#include <moveit_task_constructor_msgs/TaskDescription.h>
#include <moveit_task_constructor_msgs/TaskStatistics.h>
#include <moveit_task_constructor_msgs/Solution.h>
#endif
 
namespace rviz {
class StringProperty;
class RosTopicProperty;
}  // namespace rviz
 
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel);
}
}  // namespace moveit
namespace rdf_loader {
MOVEIT_CLASS_FORWARD(RDFLoader);
}
 
namespace moveit_rviz_plugin {
 
MOVEIT_CLASS_FORWARD(DisplaySolution);
class TaskListModel;
 
class TaskDisplay : public rviz::Display
{
        Q_OBJECT
 
public:
        TaskDisplay();
        ~TaskDisplay() override;
 
        void loadRobotModel();
 
        void update(float wall_dt, float ros_dt) override;
        void reset() override;
        void save(rviz::Config config) const override;
        void load(const rviz::Config& config) override;
 
        void setName(const QString& name) override;
        void setSolutionStatus(bool ok, const char* msg = "");
 
        TaskListModel& getTaskListModel() { return *task_list_model_; }
        TaskSolutionVisualization* visualization() const { return trajectory_visual_.get(); }
 
        inline void clearMarkers() { trajectory_visual_->clearMarkers(); }
        inline void addMarkers(const DisplaySolutionPtr& s) { trajectory_visual_->addMarkers(s); }
 
protected:
        void onInitialize() override;
        void onEnable() override;
        void onDisable() override;
        void fixedFrameChanged() override;
        void calculateOffsetPosition();
 
private:
        inline void requestPanel();
 
private Q_SLOTS:
        void changedRobotDescription();
        void changedTaskSolutionTopic();
        void onTasksInserted(const QModelIndex& parent, int first, int last);
        void onTasksRemoved(const QModelIndex& parent, int first, int last);
        void onTaskDataChanged(const QModelIndex& topLeft, const QModelIndex& bottomRight);
 
        void taskDescriptionCB(const moveit_task_constructor_msgs::TaskDescriptionConstPtr& msg);
        void taskStatisticsCB(const moveit_task_constructor_msgs::TaskStatisticsConstPtr& msg);
        void taskSolutionCB(const moveit_task_constructor_msgs::SolutionConstPtr& msg);
 
protected:
        ros::Subscriber task_solution_sub;
        ros::Subscriber task_description_sub;
        ros::Subscriber task_statistics_sub;
 
        // The trajectory playback component
        std::unique_ptr<TaskSolutionVisualization> trajectory_visual_;
        // The TaskListModel storing actual task and solution data
        std::unique_ptr<TaskListModel> task_list_model_;
        bool panel_requested_;
 
        // Load robot model
        rdf_loader::RDFLoaderPtr rdf_loader_;
        moveit::core::RobotModelConstPtr robot_model_;
 
        // topic namespace for ROS interfaces of task
        std::string base_ns_;
        // Indicates whether description was received for current task
        bool received_task_description_;
 
        // Properties
        rviz::StringProperty* robot_description_property_;
        rviz::RosTopicProperty* task_solution_topic_property_;
        rviz::Property* tasks_property_;
};
 
}  // namespace moveit_rviz_plugin