New panel with a slider to control the visualized trajectory #491

Jntzko · 2017-04-25T11:54:04Z

The new panel includes a slider to control the animated planned path.
It allows to display single waypoints of the trajectory.
There is a play/pause button which starts or pauses the animation at the current waypoint.
Pressing the play button after the animation is finished replays the trajectory.
This can also be used to pause the loop mode.

The panel is integrated into the trajectory visualization and is switched off by default.
That means the Trajectory display and the MotionPlanning display support this new panel and it can be activated in rviz' "Panels" menu entry.
The current behavior of loop and trail is retained.

This video shows the features of the slider.

v4hn

@Jntzko worked on that for quite a while and spent a bit of work on keeping the current behavior as is.
It is a really nice tool that integrates well with the current interface.

I wholeheartedly approve.

jrgnicho

But a few comments this looks really good, I'll build and run it just to confirm that it works well.

jrgnicho · 2017-04-26T18:10:57Z

moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp

-      animating_path_ = true;
+    else if (displaying_trajectory_message_)
+    {
+      if (trajectory_slider_panel_->isVisible() && !loop_display_property_->getBool() &&


I feel that this if statement could be untangled a bit more for the sake of clarity. Both conditions check for trajectory_slider_panel_->isVisible(), perhaps that could be moved into its own if statement.

jrgnicho · 2017-04-26T18:11:06Z

...lization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/trajectory_panel.h

+  }
+
+private Q_SLOTS:
+  void sliderValueChanged(int);


Should there be an argument name here?

jrgnicho · 2017-04-26T20:10:52Z

I have tested it with the MotionPlanning Display and it works well. I think the Slider panel should be added automatically whenever the MotionPlanning Display is added, otherwise the user may never know that it's there.

v4hn · 2017-04-26T20:58:19Z

On Wed, Apr 26, 2017 at 01:10:53PM -0700, Jorge Nicho wrote: I think the Slider panel should be added automatically whenever the MotionPlanning Display is added, otherwise the user may never know that it's there.

There was some internal debate on this over here.. It is yet another item clobbering RViz when MoveIt is used and in many cases you don't need it. People didn't miss it too much in everyday usage up to now. They only miss it, when they really *need* to look at the trajectory in that much detail. Also, for each trajectory display you add (the MotionPlanningDisplay includes one too), you get one of these panels. Based on these arguments my personal opinion is that it should not be active by default. My plan was to make advertisement for it with the next release and maybe add a short tutorial. If more maintainers disagree, this can of course be changed.

davetcoleman · 2017-04-27T04:53:39Z

I love this! Having it off by default seems like a good idea, at least until the next ROS release.

Thoughts from the video:

Can the title of the panel be "MoveIt! Trajectory Slider"
If we change that title, perhaps we could append "MoveIt!" to the regular "MotionPlanning" panel as well
Please capitalize "play" to match other format
What is the behavior if there are more waypoints, e.g. >100?

davetcoleman · 2017-04-27T04:55:20Z

moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_panel.cpp

+  }
+  else
+  {
+    button_->setText("pause");


Please capitalize these buttons

davetcoleman · 2017-04-27T04:56:50Z

moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp

+          trajectory_slider_panel_->getSliderPosition() == displaying_trajectory_message_->getWayPointCount() - 1)
+      {  // show the last waypoint if the slider is enabled
+        display_path_robot_->update(
+            displaying_trajectory_message_->getWayPointPtr(displaying_trajectory_message_->getWayPointCount() - 1));


are there proper checks elsewhere for zero-length trajectories being published to this display? If not, this would segfault.

I don't think we can get a slider position of -1, so the update function will never be called with a zero-length trajectory. Please correct me if I'm wrong.

davetcoleman · 2017-04-27T04:57:24Z

moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_panel.cpp

+
+void TrajectoryPanel::update(int way_point_count)
+{
+  last_way_point_ = way_point_count - 1;


check if way_point_count is zero?

This panel is integrated in the trajectory visualization, that means for the Trajectory display and the MotionPlanning display appears a new panel. This is an extension to the displayed planned path, currently the planned path is shown once after it is planned, if the loop mode is enabled the animation will be repeated. These behaviors will be kept. This panel includes a slider which controls this animated path, it is possible now to display the single waypoints of the trajectory. There is also a play/pause button which starts the animation from the current waypoint to the end and to pause it again. Pressing the play button after the animation is finished replays the trajectory. This can also be used to pause the loop mode.

Jntzko · 2017-04-27T12:56:40Z

What is the behavior if there are more waypoints, e.g. >100?

The slider has one step for every waypoint. The performance is still the same as it was before, we tested it with around 600 waypoints and it still performed well.

Can the title of the panel be "MoveIt! Trajectory Slider"
If we change that title, perhaps we could append "MoveIt!" to the regular "MotionPlanning" panel as well

The problem is that the trajectory display has also a slider panel, if we set the name to "displayname" + "Trajectory Slider" we get a "Trajectory Trajectory Slider" as default.

the changed logic clarify the seperate cases we have with the loop mode and the slider.

v4hn · 2017-05-05T12:23:45Z

@davetcoleman @jrgnicho Your feedback has been addressed. Could you have another look please?
I would really like to have this in the next release :)

davetcoleman

Thanks for addressing the feedback!

) * New panel with a slider controlling the planned path This panel is integrated in the trajectory visualization, that means for the Trajectory display and the MotionPlanning display appears a new panel. This is an extension to the displayed planned path, currently the planned path is shown once after it is planned, if the loop mode is enabled the animation will be repeated. These behaviors will be kept. This panel includes a slider which controls this animated path, it is possible now to display the single waypoints of the trajectory. There is also a play/pause button which starts the animation from the current waypoint to the end and to pause it again. Pressing the play button after the animation is finished replays the trajectory. This can also be used to pause the loop mode. * Simplified logic of the animated planned path with the slider the changed logic clarify the seperate cases we have with the loop mode and the slider.

…507) * New panel with a slider controlling the planned path This panel is integrated in the trajectory visualization, that means for the Trajectory display and the MotionPlanning display appears a new panel. This is an extension to the displayed planned path, currently the planned path is shown once after it is planned, if the loop mode is enabled the animation will be repeated. These behaviors will be kept. This panel includes a slider which controls this animated path, it is possible now to display the single waypoints of the trajectory. There is also a play/pause button which starts the animation from the current waypoint to the end and to pause it again. Pressing the play button after the animation is finished replays the trajectory. This can also be used to pause the loop mode. * Simplified logic of the animated planned path with the slider the changed logic clarify the seperate cases we have with the loop mode and the slider.

…508) * New panel with a slider controlling the planned path This panel is integrated in the trajectory visualization, that means for the Trajectory display and the MotionPlanning display appears a new panel. This is an extension to the displayed planned path, currently the planned path is shown once after it is planned, if the loop mode is enabled the animation will be repeated. These behaviors will be kept. This panel includes a slider which controls this animated path, it is possible now to display the single waypoints of the trajectory. There is also a play/pause button which starts the animation from the current waypoint to the end and to pause it again. Pressing the play button after the animation is finished replays the trajectory. This can also be used to pause the loop mode. * Simplified logic of the animated planned path with the slider the changed logic clarify the seperate cases we have with the loop mode and the slider.

130s · 2017-06-13T19:06:07Z

Usage for this is suggested moveit/moveit_tutorials#79

Add trajectory slider (moveit/moveit#491).

v4hn approved these changes Apr 25, 2017

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jrgnicho reviewed Apr 26, 2017

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davetcoleman requested changes Apr 27, 2017

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Jntzko force-pushed the trajSlider branch from 83ff582 to fcf0c8f Compare April 27, 2017 12:59

Simplified logic of the animated planned path with the slider

415e94a

the changed logic clarify the seperate cases we have with the loop mode and the slider.

Jntzko force-pushed the trajSlider branch from fcf0c8f to 415e94a Compare April 27, 2017 13:03

verb-dave approved these changes May 17, 2017

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davetcoleman approved these changes May 17, 2017

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davetcoleman merged commit 572566f into moveit:indigo-devel May 17, 2017

davetcoleman mentioned this pull request May 17, 2017

[jade] New panel with a slider to control the visualized trajectory #507

Merged

davetcoleman mentioned this pull request May 17, 2017

[kinetic] New panel with a slider to control the visualized trajectory #508

Merged

130s mentioned this pull request May 22, 2017

Want a trajectory/waypoint viewer and editor (maybe GUI) start-jsk/rtmros_hironx#284

Closed

simonschmeisser mentioned this pull request Jun 12, 2017

Fix crash if no window_context exists #523

Merged

130s added a commit to 130s/moveit_tutorials that referenced this pull request Jun 13, 2017

[visualization_tutorial] Add trajectory slider (moveit/moveit#491).

23e040c

130s mentioned this pull request Jun 13, 2017

[visualization_tutorial] Add trajectory slider moveit/moveit_tutorials#79

Merged

130s mentioned this pull request Jun 13, 2017

Trajectory slider plays for the previous goal when a plan for the new goal is unavailable #526

Closed

130s added a commit to 130s/moveit_tutorials that referenced this pull request Jun 14, 2017

[visualization_tutorial] Add trajectory slider (moveit/moveit#491).

e9c50aa

130s mentioned this pull request Jun 17, 2017

make Isaac happier #531

Merged

v4hn pushed a commit to moveit/moveit_tutorials that referenced this pull request Jun 19, 2017

[visualization_tutorial] Add trajectory slider (#79)

82e5142

Add trajectory slider (moveit/moveit#491).

130s added a commit to moveit/moveit_tutorials that referenced this pull request Jun 22, 2017

[visualization_tutorial] Add trajectory slider (#79)

5a3816b

Add trajectory slider (moveit/moveit#491).

v4hn mentioned this pull request Oct 13, 2017

Trajectory-Panel auto-plays on hide #635

Open

davetcoleman pushed a commit to davetcoleman/moveit_tutorials that referenced this pull request Oct 19, 2017

[visualization_tutorial] Add trajectory slider (moveit#79)

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Add trajectory slider (moveit/moveit#491).

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New panel with a slider to control the visualized trajectory #491

New panel with a slider to control the visualized trajectory #491

Jntzko commented Apr 25, 2017

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New panel with a slider to control the visualized trajectory #491

New panel with a slider to control the visualized trajectory #491

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