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interrupt trajectory visualization on arrival of new display trajectory #612

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merged 7 commits into from Nov 18, 2015

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@rhaschke
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commented Sep 16, 2015

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.

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commented Sep 16, 2015

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.

rhaschke added some commits Sep 23, 2015

cleanup TrajectoryVisualization::update
simplified code to switch to new trajectory / start over animation in loop mode
fixed race condition for trajectory-display interruption
- 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
fixup! cleanup TrajectoryVisualization::update
only enter visualization loop when displaying_trajectory_message_ is defined
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commented Nov 18, 2015

Tested this - nice change!

sachinchitta added a commit that referenced this pull request Nov 18, 2015

Merge pull request #612 from ubi-agni/interrupt-traj-vis
interrupt trajectory visualization on arrival of new display trajectory

@sachinchitta sachinchitta merged commit e6f9852 into ros-planning:indigo-devel Nov 18, 2015

@rhaschke rhaschke deleted the ubi-agni:interrupt-traj-vis branch Nov 19, 2015

@davetcoleman

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commented Dec 3, 2015

this is great, thanks @rhaschke

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