fix(tier4_planning_rviz_plugin): supress initial warning message #2960

takayuki5168 · 2023-02-28T05:04:00Z

Description

Without this PR, the following warning message is shown on the terminal when launching autoware.launch.xml or turning on the visualization of the path marker.

[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'View Drivable Area')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Alpha')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Color')
[rviz2-38] QObject::connect: No such slot rviz_common::_RosTopicDisplay::updateVisualization()
[rviz2-38] QObject::connect:  (sender name:   'Width')

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takayuki5168 · 2023-02-28T05:06:33Z

@purewater0901 cc @yukkysaito Could you approve the PR.

codecov · 2023-02-28T05:24:18Z

Codecov Report

Patch and project coverage have no change.

Comparison is base (1b35a6f) 11.95% compared to head (fa6537f) 11.95%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2960   +/-   ##
=======================================
  Coverage   11.95%   11.95%           
=======================================
  Files        1324     1324           
  Lines       92109    92106    -3     
  Branches    24623    24623           
=======================================
  Hits        11010    11010           
+ Misses      69685    69682    -3     
  Partials    11414    11414

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.95% <ø> (+<0.01%)`	⬆️	Carriedforward from 1b35a6f

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ier4_planning_rviz_plugin/include/path/display.hpp	`0.00% <0.00%> (ø)`

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yukkysaito · 2023-02-28T06:00:54Z

common/tier4_planning_rviz_plugin/include/path/display.hpp

+  : property_drivable_area_view_{"View Drivable Area", true, "", this},
+    property_drivable_area_alpha_{"Alpha", 0.999, "", &property_drivable_area_view_},
+    property_drivable_area_color_{"Color", QColor(0, 148, 205), "", &property_drivable_area_view_},
+    property_drivable_area_width_{"Width", 0.3f, "", &property_drivable_area_view_}
  {
-    property_drivable_area_view_ = new rviz_common::properties::BoolProperty(
-      "View Drivable Area", true, "", this, SLOT(updateVisualization()));
-    property_drivable_area_alpha_ = new rviz_common::properties::FloatProperty(
-      "Alpha", 0.999, "", property_drivable_area_view_, SLOT(updateVisualization()), this);
-    property_drivable_area_alpha_->setMin(0.0);
-    property_drivable_area_alpha_->setMax(1.0);
-    property_drivable_area_color_ = new rviz_common::properties::ColorProperty(
-      "Color", QColor(0, 148, 205), "", property_drivable_area_view_, SLOT(updateVisualization()),
-      this);
-    property_drivable_area_width_ = new rviz_common::properties::FloatProperty(
-      "Width", 0.3f, "", property_drivable_area_view_, SLOT(updateVisualization()), this);
-    property_drivable_area_width_->setMin(0.001);
+    property_drivable_area_alpha_.setMin(0.0);
+    property_drivable_area_alpha_.setMax(1.0);
+    property_drivable_area_width_.setMin(0.001);


If SLOT(updateVisualization()) is removed, I think visualization is not updated after parameters are changed.

(Let me unresolve the comment not to forget the reason not to use SLOT(updateVisualization) 🙏 )
I had a discussion with Saito-san internally.

In order to register the updateVisualization function as SLOT, the class that has the function has Q_OBJECT type.

FYI: Error: Class declaration lacks Q_OBJECT macro.

The template class cannot have Q_OBJECT type.

FYI: Error: Template classes not supported by Q_OBJECT.

The derived class from the template class with the updateVisualiation function can be compiled, but the runtime error No such slot rviz_common::_RosTopicDisplay::updateVisualization() occurs.

In short, by the change to use a template class in order to make path/trajectory/... implementation common (#2871), now we cannot use SLOT(updateVisualization).

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

yukkysaito

LGTM

github-actions bot added component:common Common packages from the autoware-common repository. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Feb 28, 2023

takayuki5168 force-pushed the fix/remove-initial-warning-of-planning-rviz-plugin branch from f4465a9 to ed133b6 Compare February 28, 2023 05:05

github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 28, 2023

takayuki5168 marked this pull request as ready for review February 28, 2023 05:05

takayuki5168 requested review from yukkysaito and a team as code owners February 28, 2023 05:06

takayuki5168 requested a review from purewater0901 February 28, 2023 05:06

yukkysaito reviewed Feb 28, 2023

View reviewed changes

fix(tier4_planning_rviz_plugin): remove initial warning message

fa6537f

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 force-pushed the fix/remove-initial-warning-of-planning-rviz-plugin branch from ed133b6 to fa6537f Compare March 10, 2023 09:53

takayuki5168 changed the title ~~fix(tier4_planning_rviz_plugin): remove initial warning message~~ fix(tier4_planning_rviz_plugin): supress initial warning message Mar 10, 2023

yukkysaito self-requested a review March 10, 2023 09:54

yukkysaito approved these changes Mar 10, 2023

View reviewed changes

takayuki5168 enabled auto-merge (squash) March 10, 2023 10:10

takayuki5168 merged commit 85821ea into autowarefoundation:main Mar 10, 2023

takayuki5168 deleted the fix/remove-initial-warning-of-planning-rviz-plugin branch March 10, 2023 10:28

tier4-autoware-public-bot bot mentioned this pull request Mar 11, 2023

chore: sync upstream tier4/autoware.universe#311

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fix(tier4_planning_rviz_plugin): supress initial warning message #2960

fix(tier4_planning_rviz_plugin): supress initial warning message #2960

takayuki5168 commented Feb 28, 2023 •

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fix(tier4_planning_rviz_plugin): supress initial warning message #2960

fix(tier4_planning_rviz_plugin): supress initial warning message #2960

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takayuki5168 commented Feb 28, 2023 • edited Loading

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