rviz: property visualization #72
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avoid decl expressions, explicit public typedef
To allow stages to display their properties in a custom fashion, e.g. to show the end-effector marker for PoseStamped, we need to be able to register stage-specific factories.
... to allow properties to display scene-specific lists or create rviz markers
- switch from ROS serialization/deserialization to YAML - no native C++ deserialization for ROS msg types available - drop Propert::print()
... creating a read-only rviz::Property from serialized mtc::Property value
... ensures display in document order
... including ones registered in PropertyFactory
rhaschke
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rhaschke
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First attempt to display mtc properties in rviz. For each stage, a separate
rviz::PropertyTreeModelis maintained. It's possible to register customrviz::Propertyfactory functions with thePropertyFactory.These custom properties might allow nice editing, e.g. using interactive markers to configure a
StampedPose.A generic creator function, creates an rviz::Property tree from serialized YAML. Streaming a ROS type, generates YAML-like text. Unfortunately it's not perfect YAML (in contract to Python). For example, sequences as in
moveit_msgs/Constraintsare not correctly handled.An alternative implementation would have used ros-type-introspection. However, ros-type-introspection requires access to the full message description (as provided by ros topics). Otherwise one cannot ensure that the correct message description is used to decode the serialized, binary buffer.
The parser cannot (efficiently) handle ROS types in a recursive fashion. All message descriptions need to be self-contained. This could be handled by also publishing all used message descriptions in the
TaskDescriptionmsg.Finally, ros-type-introspection cannot write back changes. It's a read-only inspection tool.
In contrast, any parsed
rviz::Propertytree can be serialized to YAML easily. Using Python, we can also parse YAML into a ROS msg type again... Later!