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Update hideRobot to hide visualized robot state by setting hide_display in DisplayRobotState msg #56

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merged 4 commits into from
Aug 15, 2019
Merged

Update hideRobot to hide visualized robot state by setting hide_display in DisplayRobotState msg #56

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4e917f5
Update hideRobot to hide visualized robot state by setting hide_displ…
JafarAbdi Aug 14, 2019
011823c
Restore hideRobot to return bool
JafarAbdi Aug 14, 2019
0e3d4ee
Merge branch 'master' of https://github.com/ros-planning/moveit_visua…
JafarAbdi Aug 14, 2019
4efe904
Update hideRobot to use the new DisplayRobotState msg
JafarAbdi Aug 14, 2019
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17 changes: 5 additions & 12 deletions src/moveit_visual_tools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1527,20 +1527,13 @@ void MoveItVisualTools::publishRobotState(const moveit_msgs::DisplayRobotState&

bool MoveItVisualTools::hideRobot()
{
static const std::string VJOINT_NAME = "virtual_joint";

// Always load the robot state before using
loadSharedRobotState();

// Apply transform
Eigen::Isometry3d offset;
offset.translation().x() = rviz_visual_tools::LARGE_SCALE;
offset.translation().y() = rviz_visual_tools::LARGE_SCALE;
offset.translation().z() = rviz_visual_tools::LARGE_SCALE;
applyVirtualJointTransform(*hidden_robot_state_, offset);
moveit_msgs::DisplayRobotState display_robot_state_msg;
// Hide the robot state
display_robot_state_msg.hide = true;

// Publish
return publishRobotState(hidden_robot_state_);
publishRobotState(display_robot_state_msg);
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return true;
}

void MoveItVisualTools::showJointLimits(const robot_state::RobotStatePtr& robot_state)
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