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fix(tier4_planning_rviz_plugin): supress initial warning message #2960

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Mar 10, 2023
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fix(tier4_planning_rviz_plugin): supress initial warning message #2960

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35 changes: 15 additions & 20 deletions common/tier4_planning_rviz_plugin/include/path/display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,19 +84,14 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay<T>
{
public:
AutowarePathWithDrivableAreaDisplay()
: 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);
Comment on lines +87 to +94
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If SLOT(updateVisualization()) is removed, I think visualization is not updated after parameters are changed.

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@takayuki5168 takayuki5168 Mar 10, 2023 •
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(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).

}

~AutowarePathWithDrivableAreaDisplay()
Expand Down Expand Up @@ -137,11 +132,11 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay<T>
return;
}

if (property_drivable_area_view_->getBool()) {
if (property_drivable_area_view_.getBool()) {
Ogre::ColourValue color =
rviz_common::properties::qtToOgre(property_drivable_area_color_->getColor());
color.a = property_drivable_area_alpha_->getFloat();
const auto line_width = property_drivable_area_width_->getFloat();
rviz_common::properties::qtToOgre(property_drivable_area_color_.getColor());
color.a = property_drivable_area_alpha_.getFloat();
const auto line_width = property_drivable_area_width_.getFloat();
visualizeBound(msg_ptr->left_bound, color, line_width, left_bound_object_);
visualizeBound(msg_ptr->right_bound, color, line_width, right_bound_object_);
}
Expand All @@ -151,10 +146,10 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay<T>
Ogre::ManualObject * left_bound_object_{nullptr};
Ogre::ManualObject * right_bound_object_{nullptr};

rviz_common::properties::BoolProperty * property_drivable_area_view_;
rviz_common::properties::ColorProperty * property_drivable_area_color_;
rviz_common::properties::FloatProperty * property_drivable_area_alpha_;
rviz_common::properties::FloatProperty * property_drivable_area_width_;
rviz_common::properties::BoolProperty property_drivable_area_view_;
rviz_common::properties::FloatProperty property_drivable_area_alpha_;
rviz_common::properties::ColorProperty property_drivable_area_color_;
rviz_common::properties::FloatProperty property_drivable_area_width_;
};

class AutowarePathWithLaneIdDisplay
Expand Down