Restore names in rviz plugin

omron-sinicx · Jan 11, 2024 · 8ea26d9 · 8ea26d9
1 parent b9119f6
commit 8ea26d9
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Showing 3 changed files with 13 additions and 13 deletions.
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -381,7 +381,7 @@ void PlanningSceneDisplay::renderPlanningScene()
   {
     ROS_ERROR("Caught %s while rendering planning scene", ex.what());
   }
-  planning_scene_render_->getVisualGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
+  planning_scene_render_->getGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
   planning_scene_render_->getCollisionGeometryNode()->setVisible(scene_geometry_collision_enabled_property_->getBool());
 }
 
@@ -467,7 +467,7 @@ void PlanningSceneDisplay::changedSceneGeometryVisualEnabled()
   if (planning_scene_render_)
   {
     // TODO (felixvd): setVisualVisible only seems to do the same thing again? Why does this split exist?
-    planning_scene_render_->getVisualGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
+    planning_scene_render_->getGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
     planning_scene_render_->setVisualVisible(scene_geometry_visual_enabled_property_->getBool());
   }
 }
@@ -605,7 +605,7 @@ void PlanningSceneDisplay::onRobotModelLoaded()
 {
   changedPlanningSceneTopic();
   planning_scene_render_ = std::make_shared<PlanningSceneRender>(planning_scene_node_, context_, planning_scene_robot_);
-  planning_scene_render_->getVisualGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
+  planning_scene_render_->getGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
   planning_scene_render_->getCollisionGeometryNode()->setVisible(scene_geometry_collision_enabled_property_->getBool());
   planning_scene_render_->setVisualVisible(scene_geometry_visual_enabled_property_->getBool());
   planning_scene_render_->setCollisionVisible(scene_geometry_collision_enabled_property_->getBool());
@@ -667,7 +667,7 @@ void PlanningSceneDisplay::onEnable()
   }
   if (planning_scene_render_)
   {
-    planning_scene_render_->getVisualGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
+    planning_scene_render_->getGeometryNode()->setVisible(scene_geometry_visual_enabled_property_->getBool());
     planning_scene_render_->getCollisionGeometryNode()->setVisible(
         scene_geometry_collision_enabled_property_->getBool());
     planning_scene_render_->setVisualVisible(scene_geometry_visual_enabled_property_->getBool());
@@ -688,7 +688,7 @@ void PlanningSceneDisplay::onDisable()
     planning_scene_monitor_->stopSceneMonitor();
     if (planning_scene_render_)
     {
-      planning_scene_render_->getVisualGeometryNode()->setVisible(false);
+      planning_scene_render_->getGeometryNode()->setVisible(false);
       planning_scene_render_->getCollisionGeometryNode()->setVisible(false);
     }
   }

diff --git a/.../rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h b/.../rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/planning_scene_render.h
@@ -66,9 +66,9 @@ class PlanningSceneRender
                       const RobotStateVisualizationPtr& robot);
   ~PlanningSceneRender();
 
-  Ogre::SceneNode* getVisualGeometryNode()
+  Ogre::SceneNode* getGeometryNode()
   {
-    return planning_scene_visual_geometry_node_;
+    return planning_scene_geometry_node_;
   }
 
   Ogre::SceneNode* getCollisionGeometryNode()
@@ -103,7 +103,7 @@ class PlanningSceneRender
   void clear();
 
 private:
-  Ogre::SceneNode* planning_scene_visual_geometry_node_;     // Displays the visual geometry of collision objects
+  Ogre::SceneNode* planning_scene_geometry_node_;     // Displays the visual geometry of collision objects
   Ogre::SceneNode* planning_scene_collision_geometry_node_;  // Displays the collision geometry of collision objects
   rviz::DisplayContext* context_;
   RenderShapesPtr render_shapes_;

diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -46,7 +46,7 @@ namespace moveit_rviz_plugin
 {
 PlanningSceneRender::PlanningSceneRender(Ogre::SceneNode* node, rviz::DisplayContext* context,
                                          const RobotStateVisualizationPtr& robot)
-  : planning_scene_visual_geometry_node_(node->createChildSceneNode())
+  : planning_scene_geometry_node_(node->createChildSceneNode())
   , planning_scene_collision_geometry_node_(node->createChildSceneNode())
   , context_(context)
   , scene_robot_(robot)
@@ -56,7 +56,7 @@ PlanningSceneRender::PlanningSceneRender(Ogre::SceneNode* node, rviz::DisplayCon
 
 PlanningSceneRender::~PlanningSceneRender()
 {
-  context_->getSceneManager()->destroySceneNode(planning_scene_visual_geometry_node_);
+  context_->getSceneManager()->destroySceneNode(planning_scene_geometry_node_);
   context_->getSceneManager()->destroySceneNode(planning_scene_collision_geometry_node_);
 }
 
@@ -78,7 +78,7 @@ void PlanningSceneRender::clear()
 void PlanningSceneRender::setVisualVisible(const bool& visible)
 {
   visual_visible_ = visible;
-  planning_scene_visual_geometry_node_->setVisible(visual_visible_);
+  planning_scene_geometry_node_->setVisible(visual_visible_);
 }
 
 void PlanningSceneRender::setCollisionVisible(const bool& visible)
@@ -139,15 +139,15 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
       const auto& mesh = shapes::createMeshFromResource(object->visual_geometry_mesh_url_,
                                                         Eigen::Vector3d(mesh_scaling_factor_, mesh_scaling_factor_,
                                                                         mesh_scaling_factor_));
-      render_shapes_->renderShape(planning_scene_visual_geometry_node_, mesh,
+      render_shapes_->renderShape(planning_scene_geometry_node_, mesh,
                                   object->pose_ * object->visual_geometry_pose_, octree_voxel_rendering,
                                   octree_color_mode, color, alpha);
     }
     else  // Draw collision geometry as visual if no visual geometry was defined
     {
       for (std::size_t j = 0; j < object->shapes_.size(); ++j)
       {
-        render_shapes_->renderShape(planning_scene_visual_geometry_node_, object->shapes_[j].get(),
+        render_shapes_->renderShape(planning_scene_geometry_node_, object->shapes_[j].get(),
                                     scene->getWorld()->getGlobalShapeTransform(id, j), octree_voxel_rendering,
                                     octree_color_mode, color, alpha);
       }