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interrupt trajectory visualization on arrival of new display trajectory #612
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I'm thrilled you've addressed this issue, @rhaschke! Failed planning attempts meant wasting 20 seconds while the robot flails wildly in RViz... Not having worked on the internals of RViz or MoveIt before, I will defer making a technical review to others that have more experience with them. But with just a cursory glance, I think these changes look good. I very much want to see this merged. |
simplified code to switch to new trajectory / start over animation in loop mode
- TrajectoryVisualization::update() switches to new trajectory automatically when it has finished displaying the old one - TrajectoryVisualization::interruptCurrentDisplay() might interrupt this newly started trajectory consequences: - protect switching of trajectory with mutex - interrupt only if trajectory display progressed past first waypoint - removed obsolete signal timeToShowNewTrail: update() automatically switches and updates trail in sync
only enter visualization loop when displaying_trajectory_message_ is defined
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Tested this - nice change! |
sachinchitta
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Nov 18, 2015
interrupt trajectory visualization on arrival of new display trajectory
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this is great, thanks @rhaschke |
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A failed planning request often results in a rather long display trajectory. However, the next trajectory was only displayed, when the current one has finished.
The first patch immediately displays this trajectory when the planner was invoked from rviz - for responsive user interaction.
The second patch introduces a new display property to allow the user to switch on/off this interruption behavior in all other cases too.