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Added Effort plugin (ros-visualization#990) (ros-visualization#1010)
* Added Effort plugin Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit e3b56ed7058502d94fe3d1c27948d4f4e9be58a8) Co-authored-by: Alejandro Hernández Cordero <alejandro@openrobotics.org>
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rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp
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| /* | ||
| * Copyright (c) 2023, Open Source Robotics Foundation, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_ | ||
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| #include <urdf/model.h> | ||
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| #include <deque> | ||
| #include <map> | ||
| #include <memory> | ||
| #include <string> | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <rviz_common/message_filter_display.hpp> | ||
| #include <rviz_common/properties/bool_property.hpp> | ||
| #include <rviz_common/properties/int_property.hpp> | ||
| #include <rviz_common/properties/float_property.hpp> | ||
| #include <rviz_common/properties/string_property.hpp> | ||
| #include <rviz_common/properties/property.hpp> | ||
| #include <rviz_rendering/objects/effort_visual.hpp> | ||
| #include <sensor_msgs/msg/joint_state.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
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| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| class JointInfo : public QObject | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| JointInfo(const std::string & name, rviz_common::properties::Property * parent_category); | ||
| ~JointInfo() override; | ||
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| void setEffort(double e); | ||
| inline double getEffort() | ||
| { | ||
| return effort_; | ||
| } | ||
| void setMaxEffort(double m); | ||
| inline double getMaxEffort() | ||
| { | ||
| return max_effort_; | ||
| } | ||
| bool getEnabled() const; | ||
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| rclcpp::Time last_update_; | ||
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| public Q_SLOTS: | ||
| void updateVisibility(); | ||
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| private: | ||
| std::string name_; | ||
| double effort_, max_effort_; | ||
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| rviz_common::properties::Property * category_; | ||
| rviz_common::properties::FloatProperty * effort_property_; | ||
| rviz_common::properties::FloatProperty * max_effort_property_; | ||
| }; | ||
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| class RVIZ_DEFAULT_PLUGINS_PUBLIC EffortDisplay | ||
| : public rviz_common::MessageFilterDisplay<sensor_msgs::msg::JointState> | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| EffortDisplay(); | ||
| ~EffortDisplay() override; | ||
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| // Overrides of public virtual functions from the Display class. | ||
| void onInitialize() override; | ||
| void reset() override; | ||
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| void load(const rviz_common::Config & config) override; | ||
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| void update(float wall_dt, float ros_dt) override; | ||
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| private Q_SLOTS: | ||
| // Helper function to apply color and alpha to all visuals. | ||
| void updateColorAndAlpha(); | ||
| void updateHistoryLength(); | ||
| void updateRobotDescription(); | ||
| void updateTfPrefix(); | ||
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| private: | ||
| std::shared_ptr<JointInfo> getJointInfo(const std::string & joint); | ||
| void subscribeToRobotDescription(); | ||
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| protected: | ||
| // overrides from Display | ||
| void onEnable() override; | ||
| void onDisable() override; | ||
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| void load(); | ||
| void clear(); | ||
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| // The object for urdf model | ||
| std::shared_ptr<urdf::Model> robot_model_; | ||
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| std::string robot_description_; | ||
| std::string robot_description_topic_; | ||
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| private: | ||
| void processMessage(sensor_msgs::msg::JointState::ConstSharedPtr msg) override; | ||
| void topic_callback(const std_msgs::msg::String & msg); | ||
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| rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_; | ||
| rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_; | ||
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| // Storage for the list of visuals. It is a circular buffer where | ||
| // data gets popped from the front (oldest) and pushed to the back (newest) | ||
| std::deque<std::shared_ptr<rviz_rendering::EffortVisual>> visuals_; | ||
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| typedef std::map<std::string, std::shared_ptr<JointInfo>> M_JointInfo; | ||
| M_JointInfo joints_; | ||
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| // Property objects for user-editable properties. | ||
| rviz_common::properties::FloatProperty * alpha_property_, * width_property_, * scale_property_; | ||
| rviz_common::properties::IntProperty * history_length_property_; | ||
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| rviz_common::properties::StringProperty * robot_description_property_; | ||
| rviz_common::properties::StringProperty * tf_prefix_property_; | ||
| rviz_common::properties::Property * joints_category_; | ||
| rviz_common::properties::BoolProperty * all_enabled_property_; | ||
| }; | ||
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_ |
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