From 6f283513c9a2ea71e50159f3187fbea7c699203b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sat, 15 Oct 2022 00:54:15 +0200
Subject: [PATCH] robotstatememory: disabled visualization of frames by default
---
.../armem_robot_state/server/common/Visu.cpp | 15 ++++++++++-----
.../armem_robot_state/server/common/Visu.h | 1 +
2 files changed, 11 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
index e68119aff..1607132e5 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
@@ -42,8 +42,8 @@ namespace armarx::armem::server::robot_state
void Visu::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
- defs->optional(
- p.enabled, prefix + "enabled", "Enable or disable visualization of objects.");
+ defs->optional(p.enabled, prefix + "enabled", "Enable or disable visualization of objects.");
+ defs->optional(p.framesEnabled, prefix + "famesEnabled", "Enable or disable visualization of frames.");
defs->optional(p.frequencyHz, prefix + "frequenzyHz", "Frequency of visualization.");
}
@@ -199,10 +199,15 @@ namespace armarx::armem::server::robot_state
ARMARX_DEBUG << "Visualize " << robots.size() << " robots ...";
viz::Layer layer = arviz.layer("Robots");
visualizeRobots(layer, robots);
+ std::vector layers{layer};
ARMARX_DEBUG << "Visualize frames ...";
- viz::Layer layerFrames = arviz.layer("Frames");
- visualizeFrames(layerFrames, frames);
+ if(p.framesEnabled)
+ {
+ viz::Layer layerFrames = arviz.layer("Frames");
+ visualizeFrames(layerFrames, frames);
+ layers.push_back(layerFrames);
+ }
TIMING_END_STREAM(tVisuBuildLayers, ARMARX_DEBUG);
@@ -211,7 +216,7 @@ namespace armarx::armem::server::robot_state
ARMARX_DEBUG << "Commit visualization ...";
TIMING_START(tVisuCommit);
- arviz.commit({layer, layerFrames});
+ arviz.commit(layers);
TIMING_END_STREAM(tVisuCommit, ARMARX_DEBUG);
TIMING_END_STREAM(tVisuTotal, ARMARX_DEBUG);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
index ce69772c1..66222e0cf 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
@@ -84,6 +84,7 @@ namespace armarx::armem::server::robot_state
struct Properties
{
bool enabled = true;
+ bool framesEnabled = false;
float frequencyHz = 25;
} p;
--
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