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Port trajectory_rviz_plugin #201

Merged
merged 10 commits into from
Jun 22, 2020
Merged

Port trajectory_rviz_plugin #201

merged 10 commits into from
Jun 22, 2020

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RoboticsYY
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@RoboticsYY RoboticsYY commented May 26, 2020 •
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Description

This PR intends to port the moveit_ros_visualization/trajectory_rviz_plugin to ROS2. The dependencies were ported previously in PR #160.

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@RoboticsYY RoboticsYY changed the title [WIP] Port trajectory_rviz_plugin Port trajectory_rviz_plugin Jun 3, 2020
JafarAbdi
JafarAbdi approved these changes Jun 4, 2020
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I opened a PR to enable the trajectory visualization in the demo RoboticsYY#1

...ualization/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.h Outdated
@@ -72,7 +74,7 @@ class TrajectoryDisplay : public rviz::Display
void onInitialize() override;
void onEnable() override;
void onDisable() override;
void setName(const QString& name) override;
// void setName(const QString& name) override;
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This's set as final in display.hpp, so this should be removed

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I didn't figure out why Rviz2 made this method final. But I think removing this method will not affect the functionality of this plugin. Done remove.

@RoboticsYY
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I opened a PR to enable the trajectory visualization in the demo RoboticsYY#1

@JafarAbdi Thanks for helping change the MoveItCpp demo!

@RoboticsYY RoboticsYY force-pushed the pr-trajectory_rviz_plugin branch 2 times, most recently from 72b2a8e to 9837670 Compare June 5, 2020 03:07
henningkayser
henningkayser approved these changes Jun 12, 2020
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Looks great and works as intended. I've already based this on the sync without issues and will merge this after comments are addressed

moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -145,6 +147,9 @@ void TrajectoryVisualization::onInitialize(const rclcpp::Node::SharedPtr& node,
context_ = context;
node_ = node;

auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
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Do we need to check if the weak_ptr lock was successful?

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Yes, it's better to make sure the lock() return non-empty pointer. A check has been added.

moveit_ros/visualization/trajectory_rviz_plugin/src/trajectory_display.cpp Outdated
@@ -58,21 +58,23 @@ void TrajectoryDisplay::onInitialize()
{
Display::onInitialize();

trajectory_visual_->onInitialize(scene_node_, context_, update_nh_);
node_ = context_->getRosNodeAbstraction().lock()->get_raw_node();
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same

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Added check here as well.

@henningkayser henningkayser mentioned this pull request Jun 12, 2020
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@henningkayser henningkayser merged commit 17c51c9 into moveit:master Jun 22, 2020
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@henningkayser henningkayser henningkayser approved these changes

@JafarAbdi JafarAbdi JafarAbdi approved these changes

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3 participants
@RoboticsYY @henningkayser @JafarAbdi