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Fix fuse viz crash #312

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merged 2 commits into from
Jan 28, 2023
Merged

Fix fuse viz crash #312

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082973d
Fix SerializedPublisher not being able to read it's parameters
sloretz Jan 28, 2023
04662c8
Fix crash of fuse_viz
sloretz Jan 28, 2023
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3 changes: 3 additions & 0 deletions fuse_core/include/fuse_core/parameter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,9 @@
namespace fuse_core
{

// Helper function to get a namespace string with a '.' suffix, but only if not empty
std::string joinParameterName(const std::string & left, const std::string & right);

// NOTE(CH3): Some of these basically mimic the behavior from rclcpp's node.hpp, but for interfaces

/**
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17 changes: 17 additions & 0 deletions fuse_core/src/parameter.cpp
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Expand Up @@ -83,4 +83,21 @@ detail::list_parameter_override_prefixes(
}
return output_names;
}

std::string joinParameterName(const std::string & left, const std::string & right)
{
if (left.empty()) {
return right;
}
if (right.empty()) {
return left;
}
if ('.' != left.back() && '.' != right.front() ) {
return left + '.' + right;
}
if ('.' == left.back() && '.' == right.front()) {
return left + right.substr(1);
}
return left + right;
}
} // namespace fuse_core
10 changes: 10 additions & 0 deletions fuse_core/test/test_parameter.cpp
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Expand Up @@ -95,3 +95,13 @@ TEST(parameter, list_parameter_override_prefixes)
EXPECT_NE(matches.end(), matches.find("baz"));
}
}

TEST(parameter, joinParameterName)
{
EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", "bar"));
EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", "bar"));
EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", ".bar"));
EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", ".bar"));
EXPECT_EQ("foo", fuse_core::joinParameterName("foo", ""));
EXPECT_EQ("bar", fuse_core::joinParameterName("", "bar"));
}
18 changes: 14 additions & 4 deletions fuse_publishers/src/serialized_publisher.cpp
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Expand Up @@ -69,17 +69,27 @@ void SerializedPublisher::initialize(
void SerializedPublisher::onInit()
{
// Configure the publisher
frame_id_ = fuse_core::getParam(interfaces_, "frame_id", frame_id_);
frame_id_ = fuse_core::getParam(
interfaces_,
fuse_core::joinParameterName(name_, "frame_id"), frame_id_);

bool latch = false;
latch = fuse_core::getParam(interfaces_, "latch", latch);
latch = fuse_core::getParam(
interfaces_,
fuse_core::joinParameterName(name_, "latch"), latch);

rclcpp::Duration graph_throttle_period{0, 0};
fuse_core::getPositiveParam(interfaces_, "graph_throttle_period", graph_throttle_period, false);
fuse_core::getPositiveParam(
interfaces_,
fuse_core::joinParameterName(name_, "graph_throttle_period"),
graph_throttle_period, false);

bool graph_throttle_use_wall_time{false};
graph_throttle_use_wall_time =
fuse_core::getParam(interfaces_, "graph_throttle_use_wall_time", graph_throttle_use_wall_time);
fuse_core::getParam(
interfaces_,
fuse_core::joinParameterName(name_, "graph_throttle_use_wall_time"),
graph_throttle_use_wall_time);

graph_publisher_throttled_callback_.setThrottlePeriod(graph_throttle_period);

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10 changes: 5 additions & 5 deletions fuse_viz/include/fuse_viz/mapped_covariance_visual.hpp
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Expand Up @@ -221,12 +221,12 @@ class MappedCovarianceVisual : public rviz_rendering::Object
void updateOrientation(const Eigen::Matrix6d & covariance, ShapeIndex index);
void updateOrientationVisibility();

Ogre::SceneNode * root_node_;
Ogre::SceneNode * fixed_orientation_node_;
Ogre::SceneNode * position_scale_node_;
Ogre::SceneNode * position_node_;
Ogre::SceneNode * root_node_ = nullptr;
Ogre::SceneNode * fixed_orientation_node_ = nullptr;
Ogre::SceneNode * position_scale_node_ = nullptr;
Ogre::SceneNode * position_node_ = nullptr;

Ogre::SceneNode * orientation_root_node_;
Ogre::SceneNode * orientation_root_node_ = nullptr;
Ogre::SceneNode * orientation_offset_node_[kNumOriShapes];

rviz_rendering::Shape * position_shape_; //!< Ellipse used for the position
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8 changes: 4 additions & 4 deletions fuse_viz/include/fuse_viz/pose_2d_stamped_visual.hpp
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Expand Up @@ -150,10 +150,10 @@ class Pose2DStampedVisual : public rviz_rendering::Object
private:
void setPose2DStamped(const Ogre::Vector3 & position, const Ogre::Quaternion & orientation);

Ogre::SceneNode * root_node_;
Ogre::SceneNode * sphere_node_;
Ogre::SceneNode * axes_node_;
Ogre::SceneNode * text_node_;
Ogre::SceneNode * root_node_ = nullptr;
Ogre::SceneNode * sphere_node_ = nullptr;
Ogre::SceneNode * axes_node_ = nullptr;
Ogre::SceneNode * text_node_ = nullptr;

bool visible_;

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10 changes: 5 additions & 5 deletions fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.hpp
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Expand Up @@ -194,11 +194,11 @@ class RelativePose2DStampedConstraintVisual : public rviz_rendering::Object
}

private:
Ogre::SceneNode * root_node_;
Ogre::SceneNode * relative_pose_line_node_;
Ogre::SceneNode * error_line_node_;
Ogre::SceneNode * relative_pose_axes_node_;
Ogre::SceneNode * text_node_;
Ogre::SceneNode * root_node_ = nullptr;
Ogre::SceneNode * relative_pose_line_node_ = nullptr;
Ogre::SceneNode * error_line_node_ = nullptr;
Ogre::SceneNode * relative_pose_axes_node_ = nullptr;
Ogre::SceneNode * text_node_ = nullptr;

std::shared_ptr<BillboardLine> relative_pose_line_;
std::shared_ptr<BillboardLine> error_line_;
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10 changes: 5 additions & 5 deletions fuse_viz/src/mapped_covariance_visual.cpp
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Expand Up @@ -315,16 +315,16 @@ MappedCovarianceVisual::MappedCovarianceVisual(
MappedCovarianceVisual::~MappedCovarianceVisual()
{
delete position_shape_;
scene_manager_->destroySceneNode(position_node_->getName());
scene_manager_->destroySceneNode(position_node_);

for (int i = 0; i < kNumOriShapes; i++) {
delete orientation_shape_[i];
scene_manager_->destroySceneNode(orientation_offset_node_[i]->getName());
scene_manager_->destroySceneNode(orientation_offset_node_[i]);
}

scene_manager_->destroySceneNode(position_scale_node_->getName());
scene_manager_->destroySceneNode(fixed_orientation_node_->getName());
scene_manager_->destroySceneNode(root_node_->getName());
scene_manager_->destroySceneNode(position_scale_node_);
scene_manager_->destroySceneNode(fixed_orientation_node_);
scene_manager_->destroySceneNode(root_node_);
}

void MappedCovarianceVisual::setCovariance(const geometry_msgs::msg::PoseWithCovariance & pose)
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8 changes: 4 additions & 4 deletions fuse_viz/src/pose_2d_stamped_visual.cpp
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Expand Up @@ -90,10 +90,10 @@ Pose2DStampedVisual::Pose2DStampedVisual(
Pose2DStampedVisual::~Pose2DStampedVisual()
{
delete text_;
scene_manager_->destroySceneNode(sphere_node_->getName());
scene_manager_->destroySceneNode(axes_node_->getName());
scene_manager_->destroySceneNode(text_node_->getName());
scene_manager_->destroySceneNode(root_node_->getName());
scene_manager_->destroySceneNode(sphere_node_);
scene_manager_->destroySceneNode(axes_node_);
scene_manager_->destroySceneNode(text_node_);
scene_manager_->destroySceneNode(root_node_);
}

void Pose2DStampedVisual::setPose2DStamped(
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10 changes: 5 additions & 5 deletions fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
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Expand Up @@ -117,11 +117,11 @@ RelativePose2DStampedConstraintVisual::RelativePose2DStampedConstraintVisual(
RelativePose2DStampedConstraintVisual::~RelativePose2DStampedConstraintVisual()
{
delete text_;
scene_manager_->destroySceneNode(relative_pose_line_node_->getName());
scene_manager_->destroySceneNode(error_line_node_->getName());
scene_manager_->destroySceneNode(relative_pose_axes_node_->getName());
scene_manager_->destroySceneNode(text_node_->getName());
scene_manager_->destroySceneNode(root_node_->getName());
scene_manager_->destroySceneNode(relative_pose_line_node_);
scene_manager_->destroySceneNode(error_line_node_);
scene_manager_->destroySceneNode(relative_pose_axes_node_);
scene_manager_->destroySceneNode(text_node_);
scene_manager_->destroySceneNode(root_node_);
}

void RelativePose2DStampedConstraintVisual::setConstraint(
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