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remove tf_prefix from urdf_visualizer.h; legacy function call from tf1 #21

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remove tf_prefix from urdf_visualizer.h; legacy function call from tf1 #21

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0c7d464
remove tf_prefix from urdf_visualizer.h; legacy function call from tf1
thvhauwe Apr 27, 2021
0fb10b0
correction
thvhauwe Apr 27, 2021
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8 changes: 4 additions & 4 deletions robots/xpp_hyq/rviz/xpp_hyq.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ Visualization Manager:
Link Tree Style: Links in Alphabetic Order
Name: Monoped
Robot Description: /monoped_rviz_urdf_robot_description
TF Prefix: monoped
TF Prefix:
Update Interval: 0
Value: false
Visual Enabled: true
Expand All @@ -119,7 +119,7 @@ Visualization Manager:
Link Tree Style: Links in Alphabetic Order
Name: Biped
Robot Description: /biped_rviz_urdf_robot_description
TF Prefix: biped
TF Prefix:
Update Interval: 0
Value: false
Visual Enabled: true
Expand Down Expand Up @@ -221,7 +221,7 @@ Visualization Manager:
Value: true
Name: Hyq
Robot Description: /hyq_rviz_urdf_robot_description
TF Prefix: hyq_des
TF Prefix:
Update Interval: 0
Value: true
Visual Enabled: true
Expand All @@ -237,7 +237,7 @@ Visualization Manager:
Link Tree Style: Links in Alphabetic Order
Name: ANYmal (proprietary)
Robot Description: /anymal_rviz_urdf_robot_description
TF Prefix: anymal_des
TF Prefix:
Update Interval: 0
Value: false
Visual Enabled: true
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3 changes: 1 addition & 2 deletions robots/xpp_hyq/src/exe/urdf_visualizer_hyq1.cc
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Expand Up @@ -54,8 +54,7 @@ int main(int argc, char *argv[])
joint_names.at(KFE) = "kfe_joint";

std::string urdf = "monoped_rviz_urdf_robot_description";
UrdfVisualizer node_des(urdf, joint_names, "base", "world",
joint_desired_mono, "monoped");
UrdfVisualizer node_des(urdf, joint_names, "base", "world", joint_desired_mono);

::ros::spin();

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3 changes: 1 addition & 2 deletions robots/xpp_hyq/src/exe/urdf_visualizer_hyq2.cc
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Expand Up @@ -62,8 +62,7 @@ int main(int argc, char *argv[])
joint_names.at(n_j*R + KFE) = "R_kfe_joint";

std::string urdf = "biped_rviz_urdf_robot_description";
UrdfVisualizer node(urdf, joint_names, "base", "world",
joint_desired_biped, "biped");
UrdfVisualizer node(urdf, joint_names, "base", "world", joint_desired_biped);

::ros::spin();

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3 changes: 1 addition & 2 deletions robots/xpp_hyq/src/exe/urdf_visualizer_hyq4.cc
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Expand Up @@ -74,8 +74,7 @@ int main(int argc, char *argv[])
joint_names.at(n_j*RH + KFE) = "rh_kfe_joint";

std::string urdf = "hyq_rviz_urdf_robot_description";
UrdfVisualizer hyq_desired(urdf, joint_names, "base", "world",
joint_desired_hyq, "hyq_des");
UrdfVisualizer hyq_desired(urdf, joint_names, "base", "world", joint_desired_hyq);

::ros::spin();

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2 changes: 1 addition & 1 deletion robots/xpp_quadrotor/src/exe/urdf_visualizer_quadrotor.cc
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Expand Up @@ -58,7 +58,7 @@ int main(int argc, char *argv[])

// publish base state to RVIZ
std::string urdf = "quadrotor_rviz_urdf_robot_description";
UrdfVisualizer node_des(urdf, {}, "base", "world", joint_quadrotor, "quadrotor");
UrdfVisualizer node_des(urdf, {}, "base", "world", joint_quadrotor);

::ros::spin();

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2 changes: 1 addition & 1 deletion xpp_examples/rviz/xpp_monoped.rviz
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Expand Up @@ -121,7 +121,7 @@ Visualization Manager:
Value: true
Name: Monoped
Robot Description: /monoped_rviz_urdf_robot_description
TF Prefix: monoped
TF Prefix:
Update Interval: 0
Value: true
Visual Enabled: true
Expand Down
6 changes: 1 addition & 5 deletions xpp_vis/include/xpp_vis/urdf_visualizer.h
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Expand Up @@ -72,15 +72,12 @@ class UrdfVisualizer {
* @param rviz_fixed_frame The Fixed Frame name specified in RVIZ.
* @param state_topic The topic of the xpp_msgs::RobotStateJoint ROS message
* to subscribe to.
* @param tf_prefix In case multiple URDFS are loaded, each can be given a
* unique tf_prefix in RIVZ to visualize different states simultaneously.
*/
UrdfVisualizer(const std::string& urdf_name,
const std::vector<URDFName>& joint_names_in_urdf,
const URDFName& base_link_in_urdf,
const std::string& rviz_fixed_frame,
const std::string& state_topic,
const std::string& tf_prefix = "");
const std::string& state_topic);
virtual ~UrdfVisualizer() = default;

private:
Expand All @@ -99,7 +96,6 @@ class UrdfVisualizer {

std::string state_msg_name_;
std::string rviz_fixed_frame_;
std::string tf_prefix_;
};

} // namespace xpp
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10 changes: 4 additions & 6 deletions xpp_vis/src/urdf_visualizer.cc
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Expand Up @@ -35,13 +35,11 @@ UrdfVisualizer::UrdfVisualizer(const std::string& urdf_name,
const std::vector<URDFName>& joint_names_in_urdf,
const URDFName& base_joint_in_urdf,
const std::string& fixed_frame,
const std::string& state_topic,
const std::string& tf_prefix)
const std::string& state_topic)
{
joint_names_in_urdf_ = joint_names_in_urdf;
base_joint_in_urdf_ = base_joint_in_urdf;
rviz_fixed_frame_ = fixed_frame;
tf_prefix_ = tf_prefix;

::ros::NodeHandle nh;
state_sub_des_ = nh.subscribe(state_topic, 1, &UrdfVisualizer::StateCallback, this);
Expand Down Expand Up @@ -70,8 +68,8 @@ UrdfVisualizer::StateCallback(const xpp_msgs::RobotStateJoint& msg)
auto W_X_B_message = GetBaseFromRos(::ros::Time::now(), msg.base.pose);

tf_broadcaster_.sendTransform(W_X_B_message);
robot_publisher->publishTransforms(joint_positions, ::ros::Time::now(), tf_prefix_);
robot_publisher->publishFixedTransforms(tf_prefix_);
robot_publisher->publishTransforms(joint_positions, ::ros::Time::now());
robot_publisher->publishFixedTransforms();
}

UrdfVisualizer::UrdfnameToJointAngle
Expand All @@ -93,7 +91,7 @@ UrdfVisualizer::GetBaseFromRos(const ::ros::Time& stamp,
geometry_msgs::TransformStamped W_X_B_message;
W_X_B_message.header.stamp = stamp;
W_X_B_message.header.frame_id = rviz_fixed_frame_;
W_X_B_message.child_frame_id = tf_prefix_ + "/" + base_joint_in_urdf_;
W_X_B_message.child_frame_id = "/" + base_joint_in_urdf_;

W_X_B_message.transform.translation.x = msg.position.x;
W_X_B_message.transform.translation.y = msg.position.y;
Expand Down