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MSA cleanup #3013

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merged 2 commits into from Dec 28, 2021
Merged

MSA cleanup #3013

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a47e2c7
Pass xacro_args to both, urdf and srdf loading
rhaschke Oct 29, 2021
a334d8b
Modernize loops
rhaschke Oct 29, 2021
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12 changes: 5 additions & 7 deletions moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp
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Expand Up @@ -448,11 +448,9 @@ void SetupAssistantWidget::highlightGroup(const std::string& group_name)
config_data_->getRobotModel()->getJointModelGroup(group_name);
if (joint_model_group)
{
const std::vector<const moveit::core::LinkModel*>& link_models = joint_model_group->getLinkModels();
// Iterate through the links
for (std::vector<const moveit::core::LinkModel*>::const_iterator link_it = link_models.begin();
link_it < link_models.end(); ++link_it)
highlightLink((*link_it)->getName(), QColor(255, 0, 0));
for (const moveit::core::LinkModel* lm : joint_model_group->getLinkModels())
highlightLink(lm->getName(), QColor(255, 0, 0));
}
}

Expand All @@ -477,12 +475,12 @@ void SetupAssistantWidget::unhighlightAll()
}

// Iterate through the links
for (std::vector<std::string>::const_iterator link_it = links.begin(); link_it < links.end(); ++link_it)
for (const std::string& link : links)
{
if ((*link_it).empty())
if (link.empty())
continue;

robot_state_display_->unsetLinkColor(*link_it);
robot_state_display_->unsetLinkColor(link);
}
}

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12 changes: 4 additions & 8 deletions moveit_setup_assistant/src/widgets/start_screen_widget.cpp
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Expand Up @@ -395,7 +395,7 @@ bool StartScreenWidget::loadExistingFiles()
QApplication::processEvents();

// Load the SRDF
if (!loadSRDFFile(config_data_->srdf_path_))
if (!loadSRDFFile(config_data_->srdf_path_, config_data_->xacro_args_))
return false; // error occured

// Progress Indicator
Expand Down Expand Up @@ -546,9 +546,7 @@ bool StartScreenWidget::loadNewFiles()
// ******************************************************************************************
bool StartScreenWidget::loadURDFFile(const std::string& urdf_file_path, const std::string& xacro_args)
{
const std::vector<std::string> vec_xacro_args = { xacro_args };

if (!rdf_loader::RDFLoader::loadXmlFileToString(config_data_->urdf_string_, urdf_file_path, vec_xacro_args))
if (!rdf_loader::RDFLoader::loadXmlFileToString(config_data_->urdf_string_, urdf_file_path, { xacro_args }))
{
QMessageBox::warning(this, "Error Loading Files",
QString("URDF/COLLADA file not found: ").append(urdf_file_path.c_str()));
Expand Down Expand Up @@ -592,12 +590,10 @@ bool StartScreenWidget::loadURDFFile(const std::string& urdf_file_path, const st
// ******************************************************************************************
// Load SRDF File to Parameter Server
// ******************************************************************************************
bool StartScreenWidget::loadSRDFFile(const std::string& srdf_file_path)
bool StartScreenWidget::loadSRDFFile(const std::string& srdf_file_path, const std::string& xacro_args)
{
const std::vector<std::string> xacro_args;

std::string srdf_string;
if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_file_path, xacro_args))
if (!rdf_loader::RDFLoader::loadXmlFileToString(srdf_string, srdf_file_path, { xacro_args }))
{
QMessageBox::warning(this, "Error Loading Files", QString("SRDF file not found: ").append(srdf_file_path.c_str()));
return false;
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2 changes: 1 addition & 1 deletion moveit_setup_assistant/src/widgets/start_screen_widget.h
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Expand Up @@ -146,7 +146,7 @@ private Q_SLOTS:
bool loadURDFFile(const std::string& urdf_file_path, const std::string& xacro_args);

/// Load SRDF File
bool loadSRDFFile(const std::string& srdf_file_path);
bool loadSRDFFile(const std::string& srdf_file_path, const std::string& xacro_args);

/// Put SRDF File on Parameter Server
bool setSRDFFile(const std::string& srdf_string);
Expand Down