Show attached bodies trail in RViz

[Jntzko]

Description

Attached bodies were not included in the trail visualization of a trajectory, changing the type from rviz::Robot to RobotStateVisualization solves this issue (#190).

Anyway, the bodies color is always green, I didn't find a proper way to get the color of the attached object and set it in the update method.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[v4hn]

Thanks!

Anyway, the bodies color is always green, I didn't find a proper way to get the color of the attached object and set it in the update method.

Objects only have colors in the PlanningScene due to the implementation and changing this is outside the scope of this patch.

Approved after addressing the minor comment inline.

[rhaschke]

Objects only have colors in the PlanningScene due to the implementation and changing this is outside the scope of this patch.

That's not perfectly true. There is a default_attached_body_color_, both in the PlanningSceneDisplay and the TrajectoryVisualization (the former forwards the color value to the latter). This color should be used for the trail as well. I will push corresponding changes immediately.

[v4hn]

That's not perfectly true.

true! thanks for adding patches for that!