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Attached Collision Object Transparency #3093

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merged 4 commits into from
Nov 15, 2024
Merged

Attached Collision Object Transparency #3093

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e68a4fd
Allows attached collision objects to be transparent
rr-aiden Nov 15, 2024
804ed40
Merge branch 'collision-object-transparency' of github.com:rr-aiden/m…
rr-aiden Nov 15, 2024
0515b11
Allows for config/RViz driven changing of the attached collision obje…
rr-aiden Nov 15, 2024
fe2febd
Merge branch 'main' into collision-object-transparency
sjahr Nov 15, 2024
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4 changes: 2 additions & 2 deletions moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -356,10 +356,10 @@ void PlanningSceneDisplay::changedSceneName()
void PlanningSceneDisplay::renderPlanningScene()
{
QColor color = scene_color_property_->getColor();
Ogre::ColourValue env_color(color.redF(), color.greenF(), color.blueF());
Ogre::ColourValue env_color(color.redF(), color.greenF(), color.blueF(), scene_alpha_property_->getFloat());
if (attached_body_color_property_)
color = attached_body_color_property_->getColor();
Ogre::ColourValue attached_color(color.redF(), color.greenF(), color.blueF());
Ogre::ColourValue attached_color(color.redF(), color.greenF(), color.blueF(), robot_alpha_property_->getFloat());

try
{
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2 changes: 1 addition & 1 deletion moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
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Expand Up @@ -91,7 +91,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
color.r = default_attached_color.r;
color.g = default_attached_color.g;
color.b = default_attached_color.b;
color.a = 1.0f;
color.a = default_attached_color.a;
planning_scene::ObjectColorMap color_map;
scene->getKnownObjectColors(color_map);
scene_robot_->update(moveit::core::RobotStateConstPtr(rs), color, color_map);
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2 changes: 1 addition & 1 deletion moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
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Expand Up @@ -145,7 +145,7 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
RCLCPP_ERROR_STREAM(getLogger(), "Link " << attached_body->getAttachedLinkName() << " not found in rviz::Robot");
continue;
}
Ogre::ColourValue rcolor(color.r, color.g, color.b);
Ogre::ColourValue rcolor(color.r, color.g, color.b, color.a);
const EigenSTL::vector_Isometry3d& ab_t = attached_body->getShapePosesInLinkFrame();
const std::vector<shapes::ShapeConstPtr>& ab_shapes = attached_body->getShapes();
for (std::size_t j = 0; j < ab_shapes.size(); ++j)
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